MoveIt Pro configuration packages for Franka Robotics robots: the Franka Research 3 (FR3) arm, the FR3 Duo and the Mobile FR3 Duo.
This is a MoveIt Pro 10.1.0+ / ROS 2 Jazzy workspace.
| Package | Robot | Hardware |
|---|---|---|
fr3_solo_mock |
One FR3 arm with a Franka Hand | mock hardware |
fr3_solo_sim |
One FR3 arm with a Franka Hand | MuJoCo, robot only |
fr3_duo_mock |
FR3 Duo without a spine: the Duo mount on a fixed base, two FR3 arms, two Franka Hands | mock hardware |
fr3_duo_sim |
FR3 Duo without a spine | MuJoCo, robot only |
fr3_duo_spine_mock |
FR3 Duo on a fixed pedestal and spine: two FR3 v2 arms, two Franka Hands | mock hardware |
fr3_duo_spine_sim |
FR3 Duo on a fixed pedestal and spine | MuJoCo, robot only |
mobile_fr3_duo_mock |
Mobile FR3 Duo: TMR v0.2 swerve base, spine, two FR3 v2 arms, two Franka Hands | mock hardware, with Nav2 on a room map |
mobile_fr3_duo_sim |
Mobile FR3 Duo | MuJoCo, with a room scene, lidars and Nav2 |
franka_behaviors |
Franka Behaviors: the spine Behaviors (CreateSpineState, GetSpineStateForPoseHeight) |
built with the workspace |
external_dependencies/franka_description |
Franka robot descriptions | submodule, release 2.9.0 |
Each _sim package inherits from its _mock package (based_on_package) and sets the mock's ros2_control_xacro argument to its own MuJoCo hardware.
fr3_solo_sim, fr3_duo_sim and fr3_duo_spine_sim change only the hardware; mobile_fr3_duo_sim also replaces the controllers and adds AMCL and laser obstacle layers to the mock's Nav2 (see its README).
Real-hardware (_hw) configurations are not part of this workspace yet; issue #10 tracks them.
The MuJoCo meshes and the Nav2 map are stored in Git LFS, so install git-lfs before you clone.
git lfs install
git clone --recurse-submodules https://github.com/PickNikRobotics/moveit_pro_franka_ws.git
cd moveit_pro_franka_ws
moveit_pro configure -w "$(pwd)"
moveit_pro build
moveit_pro run -c fr3_solo_simUse -c with any configuration package from the table, for example -c mobile_fr3_duo_sim.
If you cloned without --recurse-submodules, run git submodule update --init first.
If you cloned without git-lfs, run git lfs install and git lfs pull first.
The manipulator group of each robot (its arms, and the spine where there is one) keeps the standard MoveIt Pro controller names (joint_trajectory_admittance_controller, joint_trajectory_controller, velocity_force_controller, joint_velocity_controller).
Controllers for part of a robot use short names: jtac (JointTrajectoryAdmittanceController), jtc (JointTrajectoryController), vfc (VelocityForceController), jvc (JointVelocityController) and jgvc (JointGroupVelocityController).
left_ and right_ mean one arm, the _w_spine suffix adds the spine, and spine_ and base_ name those groups. body_ is the Mobile FR3 Duo's base, spine and arms together (body_jtc). Each package README lists its controllers.
To make your own configuration, copy a package and rename it.
BSD 3-Clause, see LICENSE. Third-party files and their licenses are listed in NOTICE.