reduce repo to just franka_description

CHANGELOG.md

-# CHANGELOG
-
-## 0.7.0 - UNRELEASED
-
-Requires `libfranka` >= 0.7.0
-
-  * **BREAKING** moved services and action from `franka_control` to `franka_msgs`.
-  * **BREAKING** moved Service container from `franka_control` to `franka_hw`.
-  * `franka_example_controllers` : Added example for dual-arm control based on franka_combinable_hw.
-  * `franka_description` :
-    - Added an example urdf with two panda arms.
-    - **BREAKING** Updated collision volumes.
-    - Removed invalid `axis` for `joint8`.
-  * `franka_hw`:
-    - Added hardware classes to support torque-controlling multiple robots from one controller.
-    - Refactored FrankaHW class to serve as base class (e.g. for FrankaCombinableHW).
-    - Added joint limits checking to FrankaHW which means parameterized warning prints when approaching limits.
-    - Made initial collision behavior a parameter.
-    - Added default constructor and init method to FrankaHW.
-    - **BREAKING** moved parsing of parameters from control node to FrankaHW::init.
-    - **BREAKING** made libfranka robot a member of FrankaHW.
-    - Added missing return value to `franka::ControllerMode` stream operator function.
-  * `franka_control`:
-    - Added control node that can runs a `FrankaCombinedHW` to control mulitple Pandas.
-    - Publish whole `libfranka` `franka::RobotState` in `franka_state_controller`.
-  * `franka_example_controllers`:
-    - Cartesian impedance example controller: Interpolate desired orientations with slerp and change orientation error
-      to quaternion.
-  * **BREAKING** Moved `panda_moveit_config` to [`ros-planning`](https://github.com/ros-planning/panda_moveit_config).
-  * Added support for ROS Melodic Morenia.
-  * Raised minimum CMake version to 3.4 to match `libfranka`.
-  * Add rosparam to choose value of `franka::RealtimeConfig`.
-  * Fix unused parameter bugs in `FrankaModelHandle` (#78).
-
-## 0.6.0 - 2018-08-08
-
-Requires `libfranka` >= 0.5.0
-
-  * **BREAKING** Fixes for MoveIt, improving robot performance:
-    * Fixed joint velocity and acceleration limits in `joint_limits.yaml`
-    * Use desired joint state for move group
-  * **BREAKING** Updated joint limits in URDF
-  * **BREAKING** Fixed velocity, acceleration and jerk limits in `franka_hw`
-  * **BREAKING** Start `franka_gripper_node` when giving `load_gripper:=true` to `franka_control.launch`
-  * Allow to configure rate limiting, filtering and internal controller in `franka_control_node`
-  * **BREAKING** `FrankaHW::FrankaHW` takes additional parameters.
-  * **BREAKING** Enabled rate limiting and low-pass filtering by default (`franka_control_node.yaml`)
-  * Publish desired joint state in `/joint_state_desired`
-  * Removed `effort_joint_trajectory_controller` from `default_controllers.yaml`
-  * Fixed a bug when switching between controllers using the same `libfranka` interface
-
-## 0.5.0 - 2018-06-28
-
-Requires `libfranka` >= 0.4.0
-
-  * **BREAKING** Updated URDF:
-    * Adjusted maximum joint velocity
-    * Updated axis 4 hard and soft limits
-
-## 0.4.1 - 2018-06-21
-
-Requires `libfranka` >= 0.3.0
-
-  * Added some missing includes to `franka_hw`
-  * Add support for commanding elbow in Cartesian pose and Cartesian velocity interfaces
-
-## 0.4.0 - 2018-03-26
-
-Requires `libfranka` >= 0.3.0
-
-  * **BREAKING** Removed `arm_id` and default `robot_ip` from launchfiles
-  * **BREAKING** Changed namespace of `franka_control` controller manager
-  * **BREAKING** Changed behavior of `gripper_action` for compatibility with MoveIt
-  * Changes in `panda_moveit_config`:
-    * Updated joint limits from URDF
-    * Removed `home` poses
-    * Fixed fake execution
-    * Add `load_gripper` argument (default: `true`) to `panda_moveit.launch`
-    * Conditionally load controllers/SRDFs based on `load_gripper`
-    * Add gripper controller configuration (requires running `franka_gripper_node`)
-  * Added `mimic` tag for gripper fingers to URDF and fixed velocity limits
-
-## 0.3.0 - 2018-02-22
-
-Requires `libfranka` >= 0.3.0
-
-  * **BREAKING** Changed signatures in `franka_hw::FrankaModelHandle`
-  * **BREAKING** Added epsilon parameters to `franka_gripper/Grasp` action
-  * Added Collada meshes for Panda and Hand
-  * Added missing dependencies to `panda_moveit_config` and `franka_example_controllers`
-  * Fixed linker errors when building with `-DFranka_DIR` while an older version of
-    `ros-kinetic-libfranka` is installed
-  * Added gripper joint state publisher to `franka_visualization`
-  * Moved `move_to_start.py` example script to `franka_example_controllers`
-
-## 0.2.2 - 2018-01-31
-
-Requires `libfranka` >= 0.2.0
-
-  * Catkin-related fixes for `franka_example_controllers`
-  * Added missing `<build_export_depend>` for `message_runtime`
-
-## 0.2.1 - 2018-01-30
-
-Requires `libfranka` >= 0.2.0
-
-  * Added missing dependency to `franka_example_controllers`
-  * Lowered rotational gains for Cartesian impedance example controller
-
-## 0.2.0 - 2018-01-29
-
-Requires `libfranka` >= 0.2.0
-
-  * Added missing run-time dependencies to `franka_description` and `franka_control`
-  * Added `tau_J_d`, `m_ee`, `F_x_Cee`, `I_ee`, `m_total`, `F_x_Ctotal`, `I_total`,
-    `theta` and `dtheta` to `franka_msgs/FrankaState`
-  * Added new errors to `franka_msgs/Errors`
-  * Updated and improved examples in `franka_example_controllers`
-  * Fixed includes for Eigen3 in `franka_example_controllers`
-  * Fixed gripper state publishing in `franka_gripper_node`
-
-## 0.1.2 - 2017-10-10
-
-  * Fixed out-of-workspace build
-
-## 0.1.1 - 2017-10-09
-
-  * Integrated `franka_description` as subdirectory
-  * Fixed dependencies on libfranka
-  * Fixed RViz config file paths
-  * Added missing `test_depend` to `franka_hw`
-  * Added missing CMake install rules
-
-## 0.1.0 - 2017-09-15
-
-  * Initial release

Jenkinsfile

-#!groovy
-
-buildResult = 'NOT_BUILT'
-
-def getStages(rosDistribution, ubuntuVersion) {
-  return {
-    node('docker') {
-      step([$class: 'StashNotifier'])
-
-      try {
-        dir('src/franka_ros') {
-          checkout scm
-        }
-
-        sh 'rm -rf dist'
-        dir('dist') {
-          try {
-            step([$class: 'CopyArtifact',
-                  filter: "libfranka-*-amd64-${ubuntuVersion}.tar.gz",
-                  fingerprintArtifacts: true,
-                  projectName: "SWDEV/libfranka/${java.net.URLEncoder.encode(env.BRANCH_NAME, "UTF-8")}",
-                  selector: [$class: 'StatusBuildSelector', stable: false]])
-          } catch (e) {
-            // Fall back to develop branch.
-            step([$class: 'CopyArtifact',
-                  filter: "libfranka-*-amd64-${ubuntuVersion}.tar.gz",
-                  fingerprintArtifacts: true,
-                  projectName: "SWDEV/libfranka/develop",
-                  selector: [$class: 'StatusBuildSelector', stable: false]])
-          }
-          sh """
-            tar xfz libfranka-*-amd64-${ubuntuVersion}.tar.gz
-            ln -sf libfranka-*-amd64 libfranka
-          """
-        }
-
-        docker.build("franka_ros-ci-worker:${rosDistribution}",
-                     "-f src/franka_ros/.ci/Dockerfile.${rosDistribution} src/franka_ros/.ci").inside('-e MAKEFLAGS') {
-          withEnv(["CMAKE_PREFIX_PATH+=${env.WORKSPACE}/dist/libfranka/lib/cmake/Franka",
-                   "ROS_HOME=${env.WORKSPACE}/ros-home"]) {
-            stage("${rosDistribution}: Build & Lint (Debug)") {
-              sh """
-                . /opt/ros/${rosDistribution}/setup.sh
-                src/franka_ros/.ci/debug.sh
-              """
-              junit 'build-debug/test_results/**/*.xml'
-            }
-          }
-        }
-
-        if (buildResult != 'FAILED') {
-          buildResult = 'SUCCESS'
-        }
-      } catch (e) {
-        buildResult = 'FAILED'
-      }
-    }
-  }
-}
-
-node {
-  step([$class: 'StashNotifier'])
-}
-
-parallel(
-  'kinetic': getStages('kinetic', 'xenial'),
-  'melodic': getStages('melodic', 'bionic'),
-)
-
-node {
-  currentBuild.result = buildResult
-  step([$class: 'StashNotifier'])
-}

README.md

 # ROS integration for Franka Emika research robots
 
-[![Build Status][travis-status]][travis]
-
 See the [Franka Control Interface (FCI) documentation][fci-docs] for more information.
 
 ## License

cmake/ClangTools.cmake

-include(CMakeParseArguments)
-
-find_program(CLANG_FORMAT_PROG clang-format-6.0 DOC "'clang-format' executable")
-if(CLANG_FORMAT_PROG AND NOT TARGET format)
-  add_custom_target(format)
-  add_custom_target(check-format)
-endif()
-find_program(CLANG_TIDY_PROG clang-tidy-6.0 DOC "'clang-tidy' executable")
-if(CLANG_TIDY_PROG AND NOT TARGET tidy)
-  if(NOT CMAKE_EXPORT_COMPILE_COMMANDS)
-    message(WARNING "Invoke Catkin/CMake with '-DCMAKE_EXPORT_COMPILE_COMMANDS=ON'
-                     to generate compilation database for 'clang-tidy'.")
-  endif()
-
-  add_custom_target(tidy)
-  add_custom_target(check-tidy)
-endif()
-
-function(add_format_target _target)
-  if(NOT CLANG_FORMAT_PROG)
-    return()
-  endif()
-  cmake_parse_arguments(ARG "" "" "FILES" ${ARGN})
-
-  add_custom_target(format-${_target}
-    COMMAND ${CLANG_FORMAT_PROG} -i ${ARG_FILES}
-    WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}/..
-    COMMENT "Formatting ${_target} source code with clang-format"
-    VERBATIM
-  )
-  add_dependencies(format format-${_target})
-
-  add_custom_target(check-format-${_target}
-    COMMAND ${CLANG_FORMAT_PROG} -output-replacements-xml ${ARG_FILES} | grep "<replacement " > /dev/null && exit 1 || exit 0
-    WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}/..
-    COMMENT "Checking ${_target} code formatting with clang-format"
-    VERBATIM
-  )
-  add_dependencies(check-format check-format-${_target})
-endfunction()
-
-function(add_tidy_target _target)
-  if(NOT CLANG_TIDY_PROG)
-    return()
-  endif()
-  cmake_parse_arguments(ARG "" "" "FILES;DEPENDS" ${ARGN})
-
-  add_custom_target(tidy-${_target}
-    COMMAND ${CLANG_TIDY_PROG} -fix -p=${CMAKE_BINARY_DIR} ${ARG_FILES}
-    WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}/..
-    DEPENDS ${ARG_DEPENDS}
-    COMMENT "Running clang-tidy for ${_target}"
-    VERBATIM
-  )
-  add_dependencies(tidy tidy-${_target})
-
-  add_custom_target(check-tidy-${_target}
-  COMMAND ${CLANG_TIDY_PROG} -p=${CMAKE_BINARY_DIR} ${ARG_FILES} | grep . && exit 1 || exit 0
-    WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}/..
-    DEPENDS ${ARG_DEPENDS}
-    COMMENT "Running clang-tidy for ${_target}"
-    VERBATIM
-  )
-  add_dependencies(check-tidy check-tidy-${_target})
-endfunction()

franka_control/CMakeLists.txt

-cmake_minimum_required(VERSION 3.4)
-project(franka_control)
-
-set(CMAKE_CXX_STANDARD 14)
-set(CMAKE_CXX_STANDARD_REQUIRED ON)
-
-find_package(catkin REQUIRED COMPONENTS
-  controller_interface
-  controller_manager
-  franka_hw
-  franka_msgs
-  geometry_msgs
-  message_generation
-  pluginlib
-  realtime_tools
-  roscpp
-  sensor_msgs
-  tf
-  tf2_msgs
-)
-
-find_package(Franka 0.7.0 REQUIRED)
-
-catkin_package(
-  INCLUDE_DIRS include
-  LIBRARIES franka_state_controller
-  CATKIN_DEPENDS
-    controller_interface
-    franka_hw
-    franka_msgs
-    geometry_msgs
-    pluginlib
-    realtime_tools
-    roscpp
-    sensor_msgs
-    tf2_msgs
-  DEPENDS Franka
-)
-
-## franka_state_controller
-add_library(franka_state_controller
-  src/franka_state_controller.cpp
-)
-
-add_dependencies(franka_state_controller
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
-)
-
-target_link_libraries(franka_state_controller
-  ${Franka_LIBRARIES}
-  ${catkin_LIBRARIES}
-)
-
-target_include_directories(franka_state_controller SYSTEM PUBLIC
-  ${Franka_INCLUDE_DIRS}
-  ${catkin_INCLUDE_DIRS}
-)
-target_include_directories(franka_state_controller PUBLIC
-  include
-)
-
-## franka_control_node
-add_executable(franka_control_node
-  src/franka_control_node.cpp
-)
-
-add_dependencies(franka_control_node
-  ${${PROJECT_NAME}_EXPORTED_TARGETS}
-  ${catkin_EXPORTED_TARGETS}
-)
-
-target_link_libraries(franka_control_node
-  ${Franka_LIBRARIES}
-  ${catkin_LIBRARIES}
-)
-
-target_include_directories(franka_control_node SYSTEM PUBLIC
-  ${Franka_INCLUDE_DIRS}
-  ${catkin_INCLUDE_DIRS}
-)
-
-add_executable(franka_combined_control_node
-    src/franka_combined_control_node.cpp
-)
-
-add_dependencies(franka_combined_control_node
-    ${catkin_EXPORTED_TARGETS}
-)
-
-target_link_libraries(franka_combined_control_node
-  ${catkin_LIBRARIES}
-)
-
-target_include_directories(franka_combined_control_node SYSTEM PUBLIC
-  ${catkin_INCLUDE_DIRS}
-)
-
-
-## Installation
-install(TARGETS franka_state_controller
-                franka_control_node
-                franka_combined_control_node
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-)
-install(DIRECTORY launch
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
-install(DIRECTORY config
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
-install(FILES franka_controller_plugins.xml
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
-
-## Tools
-include(${CMAKE_CURRENT_LIST_DIR}/../cmake/ClangTools.cmake OPTIONAL
-  RESULT_VARIABLE CLANG_TOOLS
-)
-if(CLANG_TOOLS)
-  file(GLOB_RECURSE SOURCES ${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp)
-  file(GLOB_RECURSE HEADERS
-    ${CMAKE_CURRENT_SOURCE_DIR}/include/*.h
-    ${CMAKE_CURRENT_SOURCE_DIR}/src/*.h
-  )
-  add_format_target(franka_control FILES ${SOURCES} ${HEADERS})
-  add_tidy_target(franka_control
-    FILES ${SOURCES}
-    DEPENDS franka_control_node franka_combined_control_node franka_state_controller
-  )
-endif()

franka_control/config/default_combined_controllers.yaml

-effort_joint_trajectory_controller:
-  type: effort_controllers/JointTrajectoryController
-  joints:
-    - panda_2_joint1
-    - panda_2_joint2
-    - panda_2_joint3
-    - panda_2_joint4
-    - panda_2_joint5
-    - panda_2_joint6
-    - panda_2_joint7
-    - panda_1_joint1
-    - panda_1_joint2
-    - panda_1_joint3
-    - panda_1_joint4
-    - panda_1_joint5
-    - panda_1_joint6
-    - panda_1_joint7
-  constraints:
-    goal_time: 0.5
-    panda_2_joint1:
-      goal: 0.05
-    panda_2_joint2:
-      goal: 0.05
-    panda_2_joint3:
-      goal: 0.05
-    panda_2_joint4:
-      goal: 0.05
-    panda_2_joint5:
-      goal: 0.05
-    panda_2_joint6:
-      goal: 0.05
-    panda_2_joint7:
-      goal: 0.05
-    panda_1_joint1:
-      goal: 0.05
-    panda_1_joint2:
-      goal: 0.05
-    panda_1_joint3:
-      goal: 0.05
-    panda_1_joint4:
-      goal: 0.05
-    panda_1_joint5:
-      goal: 0.05
-    panda_1_joint6:
-      goal: 0.05
-    panda_1_joint7:
-      goal: 0.05
-  gains:
-    panda_1_joint1: {p: 600, d: 30, i: 0, i_clamp: 1}
-    panda_1_joint2: {p: 600, d: 30, i: 0, i_clamp: 1}
-    panda_1_joint3: {p: 600, d: 30, i: 0, i_clamp: 1}
-    panda_1_joint4: {p: 600, d: 30, i: 0, i_clamp: 1}
-    panda_1_joint5: {p: 250, d: 10, i: 0, i_clamp: 1}
-    panda_1_joint6: {p: 150, d: 10, i: 0, i_clamp: 1}
-    panda_1_joint7: {p: 50, d: 5, i: 0, i_clamp: 1}
-    panda_2_joint1: {p: 600, d: 30, i: 0, i_clamp: 1}
-    panda_2_joint2: {p: 600, d: 30, i: 0, i_clamp: 1}
-    panda_2_joint3: {p: 600, d: 30, i: 0, i_clamp: 1}
-    panda_2_joint4: {p: 600, d: 30, i: 0, i_clamp: 1}
-    panda_2_joint5: {p: 250, d: 10, i: 0, i_clamp: 1}
-    panda_2_joint6: {p: 150, d: 10, i: 0, i_clamp: 1}
-    panda_2_joint7: {p: 50, d: 5, i: 0, i_clamp: 1}
-
-panda_1_state_controller:
-  type: franka_control/FrankaStateController
-  arm_id: panda_1
-  joint_names:
-    - panda_1_joint1
-    - panda_1_joint2
-    - panda_1_joint3
-    - panda_1_joint4
-    - panda_1_joint5
-    - panda_1_joint6
-    - panda_1_joint7
-  publish_rate: 30  # [Hz]
-
-panda_2_state_controller:
-  type: franka_control/FrankaStateController
-  arm_id: panda_2
-  joint_names:
-    - panda_2_joint1
-    - panda_2_joint2
-    - panda_2_joint3
-    - panda_2_joint4
-    - panda_2_joint5
-    - panda_2_joint6
-    - panda_2_joint7
-  publish_rate: 30  # [Hz]

franka_control/config/default_controllers.yaml

-position_joint_trajectory_controller:
-  type: position_controllers/JointTrajectoryController
-  joints:
-    - panda_joint1
-    - panda_joint2
-    - panda_joint3
-    - panda_joint4
-    - panda_joint5
-    - panda_joint6
-    - panda_joint7
-  constraints:
-    goal_time: 0.5
-    panda_joint1:
-      goal: 0.05
-    panda_joint2:
-      goal: 0.05
-    panda_joint3:
-      goal: 0.05
-    panda_joint4:
-      goal: 0.05
-    panda_joint5:
-      goal: 0.05
-    panda_joint6:
-      goal: 0.05
-    panda_joint7:
-      goal: 0.05
-
-franka_state_controller:
-  type: franka_control/FrankaStateController
-  publish_rate: 30  # [Hz]
-  joint_names:
-    - panda_joint1
-    - panda_joint2
-    - panda_joint3
-    - panda_joint4
-    - panda_joint5
-    - panda_joint6
-    - panda_joint7
-  arm_id: panda

franka_control/config/franka_combined_control_node.yaml

-robot_hardware:
-  - panda_1
-  - panda_2
-
-panda_1:
-  type: franka_hw/FrankaCombinableHW
-  arm_id: panda_1
-  joint_names:
-    - panda_1_joint1
-    - panda_1_joint2
-    - panda_1_joint3
-    - panda_1_joint4
-    - panda_1_joint5
-    - panda_1_joint6
-    - panda_1_joint7
-  # Configure the threshold angle for printing joint limit warnings.
-  joint_limit_warning_threshold: 0.1 # [rad]
-  # Activate rate limiter? [true|false]
-  rate_limiting: true
-  # Cutoff frequency of the low-pass filter. Set to >= 1000 to deactivate.
-  cutoff_frequency: 1000
-  # Internal controller for motion generators [joint_impedance|cartesian_impedance]
-  internal_controller: joint_impedance
-  # Used to decide whether to enforce realtime mode [enforce|ignore]
-  realtime_config: enforce
-  # Configure the initial defaults for the collision behavior reflexes.
-  collision_config:
-    lower_torque_thresholds_acceleration: [20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0]  # [Nm]
-    upper_torque_thresholds_acceleration: [20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0]  # [Nm]
-    lower_torque_thresholds_nominal: [20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0]  # [Nm]
-    upper_torque_thresholds_nominal: [20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0]  # [Nm]
-    lower_force_thresholds_acceleration: [20.0, 20.0, 20.0, 25.0, 25.0, 25.0]  # [N, N, N, Nm, Nm, Nm]
-    upper_force_thresholds_acceleration: [20.0, 20.0, 20.0, 25.0, 25.0, 25.0]  # [N, N, N, Nm, Nm, Nm]
-    lower_force_thresholds_nominal: [20.0, 20.0, 20.0, 25.0, 25.0, 25.0]  # [N, N, N, Nm, Nm, Nm]
-    upper_force_thresholds_nominal: [20.0, 20.0, 20.0, 25.0, 25.0, 25.0]  # [N, N, N, Nm, Nm, Nm]
-
-panda_2:
-  type: franka_hw/FrankaCombinableHW
-  arm_id: panda_2
-  joint_names:
-    - panda_2_joint1
-    - panda_2_joint2
-    - panda_2_joint3
-    - panda_2_joint4
-    - panda_2_joint5
-    - panda_2_joint6
-    - panda_2_joint7
-  # Configure the threshold angle for printing joint limit warnings.
-  joint_limit_warning_threshold: 0.1 # [rad]
-  # Activate rate limiter? [true|false]
-  rate_limiting: true
-  # Cutoff frequency of the low-pass filter. Set to >= 1000 to deactivate.
-  cutoff_frequency: 1000
-  # Internal controller for motion generators [joint_impedance|cartesian_impedance]
-  internal_controller: joint_impedance
-  # Used to decide whether to enforce realtime mode [enforce|ignore]
-  realtime_config: enforce
-  # Configure the initial defaults for the collision behavior reflexes.
-  collision_config:
-    lower_torque_thresholds_acceleration: [20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0]  # [Nm]
-    upper_torque_thresholds_acceleration: [20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0]  # [Nm]
-    lower_torque_thresholds_nominal: [20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0]  # [Nm]
-    upper_torque_thresholds_nominal: [20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0]  # [Nm]
-    lower_force_thresholds_acceleration: [20.0, 20.0, 20.0, 25.0, 25.0, 25.0]  # [N, N, N, Nm, Nm, Nm]
-    upper_force_thresholds_acceleration: [20.0, 20.0, 20.0, 25.0, 25.0, 25.0]  # [N, N, N, Nm, Nm, Nm]
-    lower_force_thresholds_nominal: [20.0, 20.0, 20.0, 25.0, 25.0, 25.0]  # [N, N, N, Nm, Nm, Nm]
-    upper_force_thresholds_nominal: [20.0, 20.0, 20.0, 25.0, 25.0, 25.0]  # [N, N, N, Nm, Nm, Nm]

franka_control/config/franka_control_node.yaml

-joint_names:
-  - panda_joint1
-  - panda_joint2
-  - panda_joint3
-  - panda_joint4
-  - panda_joint5
-  - panda_joint6
-  - panda_joint7
-arm_id: panda
-# Configure the threshold angle for printing joint limit warnings.
-joint_limit_warning_threshold: 0.1 # [rad]
-# Activate rate limiter? [true|false]
-rate_limiting: true
-# Cutoff frequency of the low-pass filter. Set to >= 1000 to deactivate.
-cutoff_frequency: 100
-# Internal controller for motion generators [joint_impedance|cartesian_impedance]
-internal_controller: joint_impedance
-# Used to decide whether to enforce realtime mode [enforce|ignore]
-realtime_config: enforce
-# Configure the initial defaults for the collision behavior reflexes.
-collision_config:
-  lower_torque_thresholds_acceleration: [20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0]  # [Nm]
-  upper_torque_thresholds_acceleration: [20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0]  # [Nm]
-  lower_torque_thresholds_nominal: [20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0]  # [Nm]
-  upper_torque_thresholds_nominal: [20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0]  # [Nm]
-  lower_force_thresholds_acceleration: [20.0, 20.0, 20.0, 25.0, 25.0, 25.0]  # [N, N, N, Nm, Nm, Nm]
-  upper_force_thresholds_acceleration: [20.0, 20.0, 20.0, 25.0, 25.0, 25.0]  # [N, N, N, Nm, Nm, Nm]
-  lower_force_thresholds_nominal: [20.0, 20.0, 20.0, 25.0, 25.0, 25.0]  # [N, N, N, Nm, Nm, Nm]
-  upper_force_thresholds_nominal: [20.0, 20.0, 20.0, 25.0, 25.0, 25.0]  # [N, N, N, Nm, Nm, Nm]

franka_control/franka_controller_plugins.xml

-<library path="lib/libfranka_state_controller">
-  <class name="franka_control/FrankaStateController" type="franka_control::FrankaStateController" base_class_type="controller_interface::ControllerBase">
-    <description>A controller that publishes the complete robot state</description>
-  </class>
-</library>

franka_control/include/franka_control/franka_state_controller.h

-// Copyright (c) 2017 Franka Emika GmbH
-// Use of this source code is governed by the Apache-2.0 license, see LICENSE
-#pragma once
-
-#include <cstdint>
-#include <memory>
-#include <vector>
-
-#include <controller_interface/multi_interface_controller.h>
-#include <franka_hw/franka_state_interface.h>
-#include <franka_hw/trigger_rate.h>
-#include <franka_msgs/FrankaState.h>
-#include <geometry_msgs/WrenchStamped.h>
-#include <realtime_tools/realtime_publisher.h>
-#include <sensor_msgs/JointState.h>
-#include <tf2_msgs/TFMessage.h>
-
-namespace franka_control {
-
-/**
- * Controller to publish the robot state as ROS topics.
- */
-class FrankaStateController
-    : public controller_interface::MultiInterfaceController<franka_hw::FrankaStateInterface> {
- public:
-  /**
-   * Creates an instance of a FrankaStateController.
-   */
-  FrankaStateController() = default;
-
-  /**
-   * Initializes the controller with interfaces and publishers.
-   *
-   * @param[in] robot_hardware RobotHW instance to get a franka_hw::FrankaStateInterface from.
-   * @param[in] root_node_handle Node handle in the controller_manager namespace.
-   * @param[in] controller_node_handle Node handle in the controller namespace.
-   */
-  bool init(hardware_interface::RobotHW* robot_hardware,
-            ros::NodeHandle& root_node_handle,
-            ros::NodeHandle& controller_node_handle) override;
-
-  /**
-   * Reads the current robot state from the franka_hw::FrankaStateInterface and publishes it.
-   *
-   * @param[in] time Current ROS time.
-   * @param[in] period Time since the last update.
-   */
-  void update(const ros::Time& time, const ros::Duration& period) override;
-
- private:
-  void publishFrankaStates(const ros::Time& time);
-  void publishJointStates(const ros::Time& time);
-  void publishTransforms(const ros::Time& time);
-  void publishExternalWrench(const ros::Time& time);
-
-  std::string arm_id_;
-
-  franka_hw::FrankaStateInterface* franka_state_interface_{};
-  std::unique_ptr<franka_hw::FrankaStateHandle> franka_state_handle_{};
-
-  realtime_tools::RealtimePublisher<tf2_msgs::TFMessage> publisher_transforms_;
-  realtime_tools::RealtimePublisher<franka_msgs::FrankaState> publisher_franka_states_;
-  realtime_tools::RealtimePublisher<sensor_msgs::JointState> publisher_joint_states_;
-  realtime_tools::RealtimePublisher<sensor_msgs::JointState> publisher_joint_states_desired_;
-  realtime_tools::RealtimePublisher<geometry_msgs::WrenchStamped> publisher_external_wrench_;
-  franka_hw::TriggerRate trigger_publish_;
-  franka::RobotState robot_state_;
-  uint64_t sequence_number_ = 0;
-  std::vector<std::string> joint_names_;
-};
-
-}  // namespace franka_control

franka_control/launch/franka_combined_control.launch

-<?xml version="1.0" ?>
-<launch>
-
-  <!-- The path to a robot description (xacro) file to control -->
-  <arg name="robot" default="$(find franka_description)/robots/dual_panda_example.urdf.xacro" />
-
-  <!-- Additional XACRO args. Be sure to escape colons and equal signs
-       with backslashes, because XACRO use same syntax as roslaunch:
-       roslaunch <pkg> <launchfile> robot:=path/to/urdf.xacro args:="foo\:\=bar other\:\=true"  -->
-  <arg name="args" default="" />
-
-  <!-- The name of the combined robot, used as control node name -->
-  <arg name="robot_id" default="combined_panda" />
-
-  <!-- The config file containing all parameters for the combined hardware node like the IPs of the robots etc. -->
-  <arg name="hw_config_file" default="$(find franka_control)/config/franka_combined_control_node.yaml"/>
-
-  <!-- Optional arg to manually configure the ips of all robots, overwriting ips that are configured in hw_config_file -->
-  <!-- The ips must be set as dictionary like {<arm_id_1>/robot_ip: <my_ip_1>, <arm_id_2>/robot_ip: <my_ip_2>} -->
-  <arg name="robot_ips" />
-
-  <!-- The config file containing the parameterization for all controllers to start with this launch file -->
-  <arg name="controllers_file" default="$(find franka_control)/config/default_combined_controllers.yaml" />
-
-  <!-- The space separated list of controllers to start in this launch files. The controllers should be known from the controllers_file -->
-  <arg name="controllers_to_start" default="panda_1_state_controller panda_2_state_controller"/>
-
-  <!-- The list of the joint_states topics of all combined robots to fuse to a complete topic -->
-  <arg name="joint_states_source_list" default="[panda_1_state_controller/joint_states, panda_2_state_controller/joint_states, panda_1/franka_gripper/joint_states, panda_2/franka_gripper/joint_states]"/>
-
-  <node name="$(arg robot_id)" pkg="franka_control" type="franka_combined_control_node" output="screen" required="true" >
-    <rosparam command="load" file="$(arg hw_config_file)" />
-    <!-- Add or overwrite manually configured ips -->
-    <rosparam subst_value="True">$(arg robot_ips)</rosparam>
-    <param name="robot_description" command="xacro --inorder $(arg robot) $(arg args)" />
-  </node>
-
-  <group ns="$(arg robot_id)">
-
-    <rosparam command="load" file="$(arg controllers_file)" />
-    <node name="hw_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"
-      args="$(arg controllers_to_start)"/>
-
-    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/>
-    <node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
-      <param name="robot_description" command="xacro --inorder $(arg robot) $(arg args)" />
-      <rosparam param="source_list"  subst_value="true">$(arg joint_states_source_list)</rosparam>
-      <param name="rate" value="30"/>
-    </node>
-
-  </group>
-
-</launch>

franka_control/launch/franka_control.launch

-<?xml version="1.0" ?>
-<launch>
-  <arg name="robot_ip" />
-  <arg name="load_gripper" default="true" />
-
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'" if="$(arg load_gripper)" />
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm.urdf.xacro'" unless="$(arg load_gripper)" />
-
-  <include file="$(find franka_gripper)/launch/franka_gripper.launch" if="$(arg load_gripper)">
-    <arg name="robot_ip" value="$(arg robot_ip)" />
-  </include>
-
-  <node name="franka_control" pkg="franka_control" type="franka_control_node" output="screen" required="true">
-    <rosparam command="load" file="$(find franka_control)/config/franka_control_node.yaml" />
-    <param name="robot_ip" value="$(arg robot_ip)" />
-  </node>
-
-  <rosparam command="load" file="$(find franka_control)/config/default_controllers.yaml" />
-  <node name="state_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="franka_state_controller"/>
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/>
-  <node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
-    <rosparam if="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states, franka_gripper/joint_states] </rosparam>
-    <rosparam unless="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states] </rosparam>
-    <param name="rate" value="30"/>
-  </node>
-  <node name="joint_state_desired_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
-    <rosparam if="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states_desired, franka_gripper/joint_states] </rosparam>
-    <rosparam unless="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states_desired] </rosparam>
-    <param name="rate" value="30"/>
-    <remap from="/joint_states" to="/joint_states_desired" />
-  </node>
-</launch>

franka_control/package.xml

-<?xml version="1.0"?>
-<package format="2">
-  <name>franka_control</name>
-  <version>0.7.0</version>
-  <description>franka_control provides a hardware node to control a Franka Emika research robot</description>
-  <maintainer email="support@franka.de">Franka Emika GmbH</maintainer>
-  <license>Apache 2.0</license>
-
-  <url type="website">http://wiki.ros.org/franka_control</url>
-  <url type="repository">https://github.com/frankaemika/franka_ros</url>
-  <url type="bugtracker">https://github.com/frankaemika/franka_ros/issues</url>
-  <author>Franka Emika GmbH</author>
-
-  <buildtool_depend>catkin</buildtool_depend>
-
-  <depend>libfranka</depend>
-  <depend>controller_interface</depend>
-  <depend>controller_manager</depend>
-  <depend>franka_hw</depend>
-  <depend>franka_msgs</depend>
-  <depend>geometry_msgs</depend>
-  <depend>pluginlib</depend>
-  <depend>realtime_tools</depend>
-  <depend>roscpp</depend>
-  <depend>sensor_msgs</depend>
-  <depend>tf2_msgs</depend>
-  <depend>tf</depend>
-
-  <exec_depend>franka_description</exec_depend>
-  <exec_depend>franka_gripper</exec_depend>
-  <exec_depend>joint_state_publisher</exec_depend>
-  <exec_depend>robot_state_publisher</exec_depend>
-
-  <export>
-    <controller_interface plugin="${prefix}/franka_controller_plugins.xml"/>
-  </export>
-</package>

franka_control/src/franka_combined_control_node.cpp

-// Copyright (c) 2019 Franka Emika GmbH
-// Use of this source code is governed by the Apache-2.0 license, see LICENSE
-
-#include <controller_manager/controller_manager.h>
-#include <franka_hw/franka_combined_hw.h>
-#include <ros/ros.h>
-
-#include <franka/control_tools.h>
-#include <sched.h>
-#include <string>
-
-int main(int argc, char** argv) {
-  ros::init(argc, argv, "franka_combined_control_node");
-
-  ros::AsyncSpinner spinner(4);
-  spinner.start();
-
-  ros::NodeHandle private_node_handle("~");
-  franka_hw::FrankaCombinedHW franka_control;
-  if (!franka_control.init(private_node_handle, private_node_handle)) {
-    ROS_ERROR("franka_combined_control_node:: Initialization of FrankaCombinedHW failed!");
-    return 1;
-  }
-
-  // set current thread to real-time priority
-  std::string error_message;
-  if (!franka::setCurrentThreadToHighestSchedulerPriority(&error_message)) {
-    ROS_ERROR("franka_combined_control_node: Failed to set thread priority to real-time. Error: %s",
-              error_message.c_str());
-    return 1;
-  }
-
-  controller_manager::ControllerManager cm(&franka_control, private_node_handle);
-  ros::Duration period(0.001);
-  ros::Rate rate(period);
-
-  while (ros::ok()) {
-    rate.sleep();
-    ros::Time now = ros::Time::now();
-    franka_control.read(now, period);
-    cm.update(now, period, franka_control.controllerNeedsReset());
-    franka_control.write(now, period);
-  }
-
-  return 0;
-}

franka_control/src/franka_control_node.cpp

-// Copyright (c) 2017 Franka Emika GmbH
-// Use of this source code is governed by the Apache-2.0 license, see LICENSE
-#include <algorithm>
-#include <atomic>
-
-#include <actionlib/server/simple_action_server.h>
-#include <controller_manager/controller_manager.h>
-#include <franka/exception.h>
-#include <franka/robot.h>
-#include <franka_hw/franka_hw.h>
-#include <franka_hw/services.h>
-#include <franka_msgs/ErrorRecoveryAction.h>
-#include <ros/ros.h>
-
-using franka_hw::ServiceContainer;
-
-int main(int argc, char** argv) {
-  ros::init(argc, argv, "franka_control_node");
-
-  ros::NodeHandle public_node_handle;
-  ros::NodeHandle node_handle("~");
-
-  franka_hw::FrankaHW franka_control;
-  if (!franka_control.init(public_node_handle, node_handle)) {
-    ROS_ERROR("franka_control_node: Failed to initialize FrankaHW class. Shutting down!");
-    return 1;
-  }
-
-  franka::Robot& robot = franka_control.robot();
-
-  std::atomic_bool has_error(false);
-
-  ServiceContainer services;
-  franka_hw::setupServices(robot, node_handle, services);
-
-  actionlib::SimpleActionServer<franka_msgs::ErrorRecoveryAction> recovery_action_server(
-      node_handle, "error_recovery",
-      [&](const franka_msgs::ErrorRecoveryGoalConstPtr&) {
-        try {
-          robot.automaticErrorRecovery();
-          has_error = false;
-          recovery_action_server.setSucceeded();
-          ROS_INFO("Recovered from error");
-        } catch (const franka::Exception& ex) {
-          recovery_action_server.setAborted(franka_msgs::ErrorRecoveryResult(), ex.what());
-        }
-      },
-      false);
-
-  // Initialize robot state before loading any controller
-  franka_control.update(robot.readOnce());
-
-  controller_manager::ControllerManager control_manager(&franka_control, public_node_handle);
-
-  recovery_action_server.start();
-
-  // Start background threads for message handling
-  ros::AsyncSpinner spinner(4);
-  spinner.start();
-
-  while (ros::ok()) {
-    ros::Time last_time = ros::Time::now();
-
-    // Wait until controller has been activated or error has been recovered
-    while (!franka_control.controllerActive() || has_error) {
-      franka_control.update(robot.readOnce());
-
-      ros::Time now = ros::Time::now();
-      control_manager.update(now, now - last_time);
-      franka_control.checkJointLimits();
-      last_time = now;
-
-      if (!ros::ok()) {
-        return 0;
-      }
-    }
-
-    try {
-      // Run control loop. Will exit if the controller is switched.
-      franka_control.control([&](const ros::Time& now, const ros::Duration& period) {
-        if (period.toSec() == 0.0) {
-          // Reset controllers before starting a motion
-          control_manager.update(now, period, true);
-          franka_control.checkJointLimits();
-          franka_control.reset();
-        } else {
-          control_manager.update(now, period);
-          franka_control.checkJointLimits();
-          franka_control.enforceLimits(period);
-        }
-        return ros::ok();
-      });
-    } catch (const franka::ControlException& e) {
-      ROS_ERROR("%s", e.what());
-      has_error = true;
-    }
-  }
-
-  return 0;
-}

franka_description/mainpage.dox

-/**
- * @mainpage
- * @htmlinclude "manifest.html"
- *
- * Overview page for Franka Emika research robots: https://frankaemika.github.io
- */

franka_description/rosdoc.yaml

-- builder: doxygen
-  javadoc_autobrief: YES