DEPRECATED: This is no longer maintained. Use the official simulation stack provided by Franka.

Gazebo ros_control interfaces for simulated Franka Emika Panda robot

This is a ROS package for that allows to use most features of franka_state_interface and franka_model_interface with the Gazebo simulator.

This package provides a Gazebo plugin, based on gazebo_ros_control (documentation), which instantiates a ros_control controller manager with the default joint interfaces (position, velocity, effort, state) and connects it to a Gazebo model. Additionally, Franka specific interfaces are registered.

Usage and dependencies

This is meant to be used along with gazebo_panda and franka_panda_description. Note that, instead of the default gazebo_ros_control plugin (gazebo_ros_control/DefaultRobotHWSim), the custom version panda_hw_gazebo/PandaRobotHWSim provided by this package has to be loaded in xacro (example in Reconcycle project.

Credits

• Plugin structure: gazebo_ros_control by osrfoundation
• Franka Model & State Interface specification from franka_ros by Franka Emika GmbH
• kdl_methods from panda_gazebo by Saif Sidhik
• FrankaEmikaPandaDynModel

Useful resources for further development

• ROS hardware_interface documentation.