diff --git a/README.md b/README.md index 2418d2925737ff0d66964c09d9a4438af28c0c48..17face797371dcdac845e25522082cd62f372ac3 100644 --- a/README.md +++ b/README.md @@ -1,17 +1,25 @@ -# ROS integration for FRANKA EMIKA research robots +# ROS integration for Franka Emika research robots -See the [FRANKA Control Interface documentation][fci-docs] for more information. +See the [Franka Control Interface (FCI) documentation][fci-docs] for more information. ## MoveIt! quickstart for Panda research 1. Launch the joint trajectory controller - roslaunch franka_control franka_control.launch robot_ip:=<ip> +``` +roslaunch franka_control franka_control.launch robot_ip:=<ip> +``` 2. Launch MoveIt! - roslaunch panda_moveit_config panda_moveit.launch +``` +roslaunch panda_moveit_config panda_moveit.launch +``` 3. Launch RViz - roslaunch panda_moveit_config moveit_rviz.launch +``` +roslaunch panda_moveit_config moveit_rviz.launch +``` + +[fci-docs]: https://frankaemika.github.io/docs diff --git a/franka_control/mainpage.dox b/franka_control/mainpage.dox index 5b0dc0a0528115714a86756b584494486c6d4b4f..941d0bf97714038b58c39c7dcd816e901e22c023 100644 --- a/franka_control/mainpage.dox +++ b/franka_control/mainpage.dox @@ -2,5 +2,5 @@ * @mainpage * @htmlinclude "manifest.html" * - * Overview page for FRANKA EMIKA research robots: https://frankaemika.github.io + * Overview page for Franka Emika research robots: https://frankaemika.github.io */ diff --git a/franka_control/package.xml b/franka_control/package.xml index 636e59634f673e463010cf57f641dea4b7b4a71d..69e6421e9915a5f64738ff255732029d0d107842 100644 --- a/franka_control/package.xml +++ b/franka_control/package.xml @@ -2,14 +2,14 @@ <package format="2"> <name>franka_control</name> <version>0.0.1</version> - <description>franka_control provides a hardware node to control a FRANKA EMIKA research robot</description> - <maintainer email="info@franka.de">FRANKA EMIKA Research Interface Team</maintainer> + <description>franka_control provides a hardware node to control a Franka Emika research robot</description> + <maintainer email="info@franka.de">Franka Emika GmbH</maintainer> <license>NONE</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 Research Interface Team</author> + <author>Franka Emika GmbH</author> <buildtool_depend>catkin</buildtool_depend> diff --git a/franka_example_controllers/mainpage.dox b/franka_example_controllers/mainpage.dox index 5b0dc0a0528115714a86756b584494486c6d4b4f..941d0bf97714038b58c39c7dcd816e901e22c023 100644 --- a/franka_example_controllers/mainpage.dox +++ b/franka_example_controllers/mainpage.dox @@ -2,5 +2,5 @@ * @mainpage * @htmlinclude "manifest.html" * - * Overview page for FRANKA EMIKA research robots: https://frankaemika.github.io + * Overview page for Franka Emika research robots: https://frankaemika.github.io */ diff --git a/franka_example_controllers/package.xml b/franka_example_controllers/package.xml index 130286adbaaf9e10e9f66de6d1c68341b989e1ac..49f5a21db992123bb953755ec8b47eb2d319b661 100644 --- a/franka_example_controllers/package.xml +++ b/franka_example_controllers/package.xml @@ -3,13 +3,13 @@ <name>franka_example_controllers</name> <version>0.0.1</version> <description>The franka_example_controllers package</description> - <maintainer email="info@franka.de">FRANKA EMIKA Research Interface Team</maintainer> + <maintainer email="info@franka.de">Franka Emika GmbH</maintainer> <license>NONE</license> <url type="website">http://wiki.ros.org/franka_example_controllers</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 Research Interface Team</author> + <author>Franka Emika GmbH</author> <buildtool_depend>catkin</buildtool_depend> diff --git a/franka_gripper/mainpage.dox b/franka_gripper/mainpage.dox index 5b0dc0a0528115714a86756b584494486c6d4b4f..941d0bf97714038b58c39c7dcd816e901e22c023 100644 --- a/franka_gripper/mainpage.dox +++ b/franka_gripper/mainpage.dox @@ -2,5 +2,5 @@ * @mainpage * @htmlinclude "manifest.html" * - * Overview page for FRANKA EMIKA research robots: https://frankaemika.github.io + * Overview page for Franka Emika research robots: https://frankaemika.github.io */ diff --git a/franka_gripper/package.xml b/franka_gripper/package.xml index b37053f65bf4079f4ffb963275f203d6872ae457..3ba378b3f3afa24dacee22f2056421cec6ba3843 100644 --- a/franka_gripper/package.xml +++ b/franka_gripper/package.xml @@ -3,13 +3,13 @@ <name>franka_gripper</name> <version>0.0.1</version> <description>This package implements the franka gripper of type Franka Hand for the use in ros</description> - <maintainer email="info@franka.de">FRANKA EMIKA Research Interface Team</maintainer> + <maintainer email="info@franka.de">Franka Emika GmbH</maintainer> <license>NONE</license> <url type="website">http://wiki.ros.org/franka_gripper</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 Research Interface Team</author> + <author>Franka Emika GmbH</author> <buildtool_depend>catkin</buildtool_depend> diff --git a/franka_hw/mainpage.dox b/franka_hw/mainpage.dox index 5b0dc0a0528115714a86756b584494486c6d4b4f..941d0bf97714038b58c39c7dcd816e901e22c023 100644 --- a/franka_hw/mainpage.dox +++ b/franka_hw/mainpage.dox @@ -2,5 +2,5 @@ * @mainpage * @htmlinclude "manifest.html" * - * Overview page for FRANKA EMIKA research robots: https://frankaemika.github.io + * Overview page for Franka Emika research robots: https://frankaemika.github.io */ diff --git a/franka_hw/package.xml b/franka_hw/package.xml index afbc4db47b1ee577e0743c7b66bb4de13fd3d2a0..23a6a3ecfe92a1703f525283267bd0b450897a93 100644 --- a/franka_hw/package.xml +++ b/franka_hw/package.xml @@ -2,14 +2,14 @@ <package format="2"> <name>franka_hw</name> <version>0.0.1</version> - <description>franka_hw provides hardware interfaces for using FRANKA EMIKA research robots with ros_control</description> - <maintainer email="info@franka.de">FRANKA EMIKA Research Interface Team</maintainer> + <description>franka_hw provides hardware interfaces for using Franka Emika research robots with ros_control</description> + <maintainer email="info@franka.de">Franka Emika GmbH</maintainer> <license>NONE</license> <url type="website">http://wiki.ros.org/franka_hw</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 Research Interface Team</author> + <author>Franka Emika GmbH</author> <buildtool_depend>catkin</buildtool_depend> diff --git a/franka_msgs/mainpage.dox b/franka_msgs/mainpage.dox index 5b0dc0a0528115714a86756b584494486c6d4b4f..941d0bf97714038b58c39c7dcd816e901e22c023 100644 --- a/franka_msgs/mainpage.dox +++ b/franka_msgs/mainpage.dox @@ -2,5 +2,5 @@ * @mainpage * @htmlinclude "manifest.html" * - * Overview page for FRANKA EMIKA research robots: https://frankaemika.github.io + * Overview page for Franka Emika research robots: https://frankaemika.github.io */ diff --git a/franka_msgs/package.xml b/franka_msgs/package.xml index 9cc1bbf95ea67e17c60d5606ea71cda2a8683bc5..efe8ee5269f4639b2d5b885a436356f865c2530e 100644 --- a/franka_msgs/package.xml +++ b/franka_msgs/package.xml @@ -2,14 +2,14 @@ <package format="2"> <name>franka_msgs</name> <version>0.0.1</version> - <description>franka_msgs provides messages specific to FRANKA EMIKA research robots</description> - <maintainer email="info@franka.de">FRANKA EMIKA Research Interface Team</maintainer> + <description>franka_msgs provides messages specific to Franka Emika research robots</description> + <maintainer email="info@franka.de">Franka Emika GmbH</maintainer> <license>NONE</license> <url type="website">http://wiki.ros.org/franka_msgs</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 Research Interface Team</author> + <author>Franka Emika GmbH</author> <buildtool_depend>catkin</buildtool_depend> diff --git a/franka_ros/mainpage.dox b/franka_ros/mainpage.dox index 5b0dc0a0528115714a86756b584494486c6d4b4f..941d0bf97714038b58c39c7dcd816e901e22c023 100644 --- a/franka_ros/mainpage.dox +++ b/franka_ros/mainpage.dox @@ -2,5 +2,5 @@ * @mainpage * @htmlinclude "manifest.html" * - * Overview page for FRANKA EMIKA research robots: https://frankaemika.github.io + * Overview page for Franka Emika research robots: https://frankaemika.github.io */ diff --git a/franka_visualization/mainpage.dox b/franka_visualization/mainpage.dox index 5b0dc0a0528115714a86756b584494486c6d4b4f..941d0bf97714038b58c39c7dcd816e901e22c023 100644 --- a/franka_visualization/mainpage.dox +++ b/franka_visualization/mainpage.dox @@ -2,5 +2,5 @@ * @mainpage * @htmlinclude "manifest.html" * - * Overview page for FRANKA EMIKA research robots: https://frankaemika.github.io + * Overview page for Franka Emika research robots: https://frankaemika.github.io */ diff --git a/franka_visualization/package.xml b/franka_visualization/package.xml index 24ff6b0f8d8b46818dbf1a936c602ce35f4998a3..db4aef4124afcada0cf2dc985ac1ded4340ebb09 100644 --- a/franka_visualization/package.xml +++ b/franka_visualization/package.xml @@ -2,14 +2,14 @@ <package format="2"> <name>franka_visualization</name> <version>0.0.1</version> - <description>This package contains visualization tools for FRANKA EMIKA.</description> - <maintainer email="info@franka.de">FRANKA EMIKA Research Interface Team</maintainer> + <description>This package contains visualization tools for Franka Emika.</description> + <maintainer email="info@franka.de">Franka Emika GmbH</maintainer> <license>NONE</license> <url type="website">http://wiki.ros.org/franka_visualization</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 Research Interface Team</author> + <author>Franka Emika GmbH</author> <buildtool_depend>catkin</buildtool_depend> diff --git a/panda_moveit_config/mainpage.dox b/panda_moveit_config/mainpage.dox index 5b0dc0a0528115714a86756b584494486c6d4b4f..941d0bf97714038b58c39c7dcd816e901e22c023 100644 --- a/panda_moveit_config/mainpage.dox +++ b/panda_moveit_config/mainpage.dox @@ -2,5 +2,5 @@ * @mainpage * @htmlinclude "manifest.html" * - * Overview page for FRANKA EMIKA research robots: https://frankaemika.github.io + * Overview page for Franka Emika research robots: https://frankaemika.github.io */ diff --git a/panda_moveit_config/package.xml b/panda_moveit_config/package.xml index 0d07bf3bcc25f576535e496e93d15d333146e7cf..6c026ae24c45f5af71dc9e1372ac83df4e1ff0b8 100644 --- a/panda_moveit_config/package.xml +++ b/panda_moveit_config/package.xml @@ -3,13 +3,13 @@ <name>panda_moveit_config</name> <version>0.0.1</version> <description> A partly automatically generated package with all the configuration and launch files for using Panda research with MoveIt!</description> - <maintainer email="info@franka.de">FRANKA EMIKA Research Interface Team</maintainer> + <maintainer email="info@franka.de">Franka Emika GmbH</maintainer> <license>NONE</license> <url type="website">http://wiki.ros.org/panda_moveit_config</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 Research Interface Team</author> + <author>Franka Emika GmbH</author> <buildtool_depend>catkin</buildtool_depend>