fr3_ws's Introduction

FR3 ROS2 Implementation

Work space for Franka Emika FR3 robot ROS2 integration

Packages

gear_place - Includes all code for moving the robot, identifying the gear with the realsense_camera, and the supervisors to control the robot
gear_place_description - Includes all meshes, robot visuals, and urdf files for generating the robot description and visualizing the robot in rviz
gear_place_interfaces - Includes all msg and srv for the ROS2 callbacks

Follow the instructions to build libfranka from source
Install ROS2 Realsense sudo apt install ros-$ROS_DISTRO-librealsense2*
Clone the workspace

git clone https://github.com/jfernandez37/fr3_ws.git
Go into the workspace

cd fr3_ws
Clone the conveyor belt package

git clone https://github.com/usnistgov/aprs-ros-conveyor.git src/aprs-ros-conveyor
Clone the humble port of franka_ros2

git clone https://github.com/mcbed/franka_ros2.git -b humble src/franka_ros2
Install dependencies

rosdep install --from-paths src -y --ignore-src -r --rosdistro $ROS_DISTRO

To start the camera with all options needed for getting the depth of the gear, run

ros2 launch realsense2_camera rs_launch.py pointcloud.enable:=true pointcloud.ordered_pc:=true pointcloud.stream_filter:=0 depth_module.profile:='640x480x30'
To test the gear detection functions, run this command. thresh_value can be set to different values for different heights

ros2 run gear_place find_object_node.py --ros-args -p thresh_value:=160
To launch everything, run

ros2 launch gear_place gear.launch.py rviz:=True

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