franka_ros2

ROS 2 Franka robot interfaces.

This module defines ROS 2-backed interfaces for Franka robots. It provides support for joint-trajectory control, Cartesian impedance control, wrench feedback, load configuration, and TCP updates for real or simulated systems.

class robotblockset.ros2.franka_ros2.fr3(name: str = 'fr3', ns: str = '', control_strategy: str = 'CartesianImpedance', SIM: bool = False)

Bases: robot_ros2, fr3_spec

Initialize the ROS 2 Franka FR3 robot wrapper.

__init__(name: str = 'fr3', ns: str = '', control_strategy: str = 'CartesianImpedance', SIM: bool = False) → None

Initialize the ROS 2 Franka FR3 robot wrapper.

Check(silent: bool = False) → list

Return the current list of detected robot issues.

shutdown() → None

Shut down the ROS 2 robot wrapper and its background spinner.

SetLoad(mass: float, COM: tuple = [0, 0, 0], inertia: tuple = None) → int

Update the load configuration on the physical robot.

SetTCP(*tcp: ndarray, frame: str = 'Gripper', send_to_robot: bool = True, EE_frame: str = 'Flage') → int

Set the TCP locally and optionally forward it to the robot service.

Classes

fr3([name, ns, control_strategy, SIM])

Initialize the ROS 2 Franka FR3 robot wrapper.