/franka_panda_umi

URDF description & Moveit! config for Franka panda robot + UMI hand

Primary LanguageCMake

Franka Panda Umi Robot Description MoveIt Configuration

This repository contains two ROS packages:

  1. franka_umi_description: This package contains the URDF (Unified Robot Description Format) description files for a Franka robot with a UMI hand. It includes the necessary configuration, launch files, and meshes for the robot.

  2. panda_umi_moveit_config: This package contains the configuration and launch files for using the Franka robot with the MoveIt Motion Planning Framework.

Project Structure

  • franka_umi_description/: Contains the URDF description files for the Franka robot with a UMI hand.
  • panda_umi_moveit_config/: Contains the configuration and launch files for using the Franka robot with the MoveIt Motion Planning Framework.

Building

Assume you have this repo inside your catkin workspace, to build the project, run the following command in your catkin root:

catkin_make
# or 
# catkin build

Visualization

To visualize the robot in RViz, use the following command:

roslaunch franka_umi_description display.launch

To visualize and manipulate the robot in gazebo, use the following command:

roslaunch panda_umi_moveit_config demo_gazebo.launch

MoveIt Configuration

To use the MoveIt configuration for the Franka robot, refer to the launch files in the panda_umi_moveit_config/launch/ directory.

License

This project is licensed under the BSD License.