panda_grasp_server

Simple package to perform basic actions with the robot (i.e. move to a pose, grasp given a target pose, home) within a workbench + table collision avoidance scene. The python node exposes a bunch of services under its namespace.

Uses messages and services defined in hsp-panda/panda_ros_common.

Requirements

Together with the dependencies defined in package.xml, this package requires the following packages included in this organization:

• panda_moveit_config
• franka_ros
• panda_ros_common

To check the dependency status, use rosdep check panda_grasp_server.

Startup

Use the launch file:

roslaunch panda_grasp_server grasp_server.launch

There are additional arguments that you can use:

• start_realsense:=true also starts a realsense camera node, if available
• enable_force_grasp:=true if using hard Franka fingers, set to false if using compliant fingers
• robot_ip:=<whatever_ip> if the robot IP is not the default one
• rviz_config:=<custom_rviz_config_path> if you want a custom rviz file
• load_gripper:=false if you don't need the gripper
• moveit_use_bio_ik:=true in order to use the BioIK inverse kinematic solver

Expected output: (you may or may not have the ARUCO board detection set up)

Startup (simulation - experimental)

Make sure you installed easy_panda_sim

roslaunch easy_panda_sim simulation.launch
roslaunch panda_grasp_server grasp_server_sim.launch

Available commands

You can send commands to the module over ROS services. Use the rosservice [list | info] command line tool to view them, the names are pretty straightforward.

#TODO

• include default rviz view snapshot