Franka ROS2 MultiManual

This repository serves as implementation of a bimanual manipulator approach using two Franka Research 3 robots, also creating a custom hardware interface for a better precision control of the robots.

Video examples

To show the capabilities of a bimanual approach of the robots, two examples are proposed.

The first one shows the two robots in a disassembly task of electronic components.

The second example show how a robot can be programmed to move a tray with both arms in synchrony.

Requirements

• Having ROS2 humble set up and working on a Ubuntu Real-Time kernel.
• Having at least two FR3 robots with FCI activated.
• Having libfranka 0.15.0 installed.

Installation

This package depends on two Franka packages, that must be installed in the system or in the same workspace of this package.

• franka_ros2 package, version v2.0.1.
• [franka_description] package, version 1.0.2 (commit 4b8948e)

To compile the package:

colcon build --symlink-install

Remember to source the workspace:

source install/setup.bash

Usage

There is a basic launcher to launch the bimanual implementation of the two robots, either in simulated environment (Gazebo) or controlling the real robots.

For running the simulated environment:

ros2 launch idra_franka_launch bimanual.launch.py use_gazebo:=true

For connection with the real robots:

ros2 launch idra_franka_launch bimanual.launch.py left_ip:=<left_ip> right_ip:=<right_ip>

Test

The default launch file loads all the controllers that are defined inside franka_mm_control/config/basic_controller.yaml, activating the cartesian impedance controller by default. To change the default behavior change the launch file or use rqt_controller_manager package.

Inside franka_mm_control/scripts there are some basic scripts for testing the various controller types implemented inside te robot hardware interface. To launch impedance control script:

ros2 run franka_mm_control cart_impedance_test.py