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Hi,

For my project at university I will be using the Panda robot, with libfranka.
I followed the install instructions, but am not able to include the header files in a cpp file.

The CMakeCache.txt states that the package is found on:
Franka_DIR:PATH=/opt/ros/melodic/share/franka/cmake

The header files to include are located in:
/opt/ros/melodic/include/libfranka/franka

Are there any additional lines i should add to the CMakeLists.txt file? Currently my file is:
cmake_minimum_required(VERSION 3.1.0)
project(Test00)
find_package(Franka REQUIRED)
add_executable(${PROJECT_NAME} Test00.cpp)
target_link_libraries(${PROJECT_NAME} Franka::Franka)

I am using ubuntu 18.04 LTS.

As alternative i tried installing in a different location. Using
cmake -DFranka_DIR=path/to/libfranka/build
Does change the Franka_DIR to:
Franka_DIR:UNINITIALIZED=path/to/libfranka/build
However, this does not let me include the header files either.

I am really hoping that you can help me with this.

Thanks in advance,
Greetings
Remco

Hi all,

I'm trying to set up the Franka to be used in the OPW inverse kinematics library. I'm not 100% sure that the Franka fits the requirements, but when I look at the DH parameters image on the Franka page, I can't quite get all the parameters.

As far as I can tell, OPW needs parameters from the back and side views of the robot measurements of offsets, etc.

Here is their example schematic:

Would it be possible to get the precise measurements from the robots back in addition to the sid?

Thanks!

Hi @frankaemika @BarisYazici,

I have a question regarding the "power limit violation". We tried to run our custom-made controller for the robot to follow a trajectory at a pretty high speed. Sometimes it works, however, we often get the "power_limit_violation" error.

We checked the docs and it says "If the maximum allowed power is reached, the power_limit_violation will be triggered. It will prevent the robot from moving and continuing the control loop." Can you elaborate on what is "maximum allowed power" here? What could be the cause of this problem? Can you provide any hints for solving this?

P/s: The error happens on both Franka 2 and 3 but mostly Franka 2.