fr3_teleop

Teleoperation for the Franka FR3 as a single pure-Python ROS 2 (Humble) package, with two switchable input sources — GELLO (joint-space leader) and Quest (VR hand, Cartesian → IK). Both drive the stock fr3_arm_controller (JointTrajectoryController); shared robot bring-up, gripper control, SpaceMouse, and error recovery.

Nodes

Node	What it is
gello_publisher	Reads the GELLO dynamixel chain on ttyUSB0, publishes /gello/joint_states + gripper width.
gello_traj_bridge	Repipes /gello/joint_states → /fr3_arm_controller/joint_trajectory: slow ease-in on startup (and after recovery), then responsive, uncapped tracking.
gripper_client	Franka Hand from the GELLO trigger via Grasp goals (no homing). Modes hold/toggle.
quest_listener	TCP server → /right_hand_pose + /right_hand_inputs.
quest_franka_joints_commander	Placo IK: Quest pose → /fr3_arm_controller/joint_trajectory (+ gripper grasp).
franka_error_recovery	Clears FR3 reflex errors + reloads controllers (SpaceMouse btn 22 / Quest btn). Always on.
franka_move_to_start	Smooth move to home pose (SpaceMouse btn 4 / Quest btn).
get_offsets	GELLO calibration helper.

Build

cd ~/ros2_ws
colcon build --packages-select fr3_teleop
source install/setup.bash

External deps (already installed, not rosdep-able): placo (Quest IK), scipy.

Run — single bring-up

ros2 launch fr3_teleop bringup.launch.py teleop:=gello     # GELLO (default)
ros2 launch fr3_teleop bringup.launch.py teleop:=quest     # Quest
ros2 launch fr3_teleop bringup.launch.py teleop:=rollout   # policy playback

All modes always start: robot + fr3_arm_controller, spacenav_node, franka_error_recovery, franka_move_to_start.

• gello → gello_publisher + gello_traj_bridge + gripper_client
• quest → quest_listener + quest_franka_joints_commander
• rollout → no teleop input; a separately-run policy commands /fr3_arm_controller/joint_trajectory
  • the gripper. Reset the arm to home with move_to_start (SpaceMouse btn 4, or publish std_msgs/Empty on /franka_reset).

The robot comes up automatically and will move. Keep the e-stop within reach.

Or staged (recommended for first bring-up)

ros2 launch fr3_teleop robot.launch.py     # robot + fr3_arm_controller + gripper driver
ros2 launch fr3_teleop gello.launch.py     # (gello)  or:  ros2 launch fr3_teleop quest.launch.py
ros2 launch fr3_teleop gripper.launch.py   # (gello) then run the bridge:  ros2 run fr3_teleop gello_traj_bridge

GELLO calibration

ros2 run fr3_teleop get_offsets --start-joints 0 0 0 -1.57 0 1.57 0 \
    --joint-signs 1 1 1 -1 1 1 1 \
    --port /dev/serial/by-id/usb-FTDI_USB__-__Serial_Converter_FTB8HM10-if00-port0

Config (config/)

• gello.yaml — GELLO leader (com_port, joint_signs, assembly_offsets, gripper range, dynamixel).
• robot.yaml — FR3 (robot_ip 172.16.0.2, load_gripper, fake hardware).
• gripper.yaml — gripper behaviour shared by gello + quest: gripper_mode (hold/toggle), thresholds, grasp force/speed. invert_trigger is GELLO-only (Quest's trigger polarity is opposite and fixed in the node).
• controllers.yaml — fr3_arm_controller (P/D gains) @ 1 kHz + franka_robot_state_broadcaster with lock_log_error:false (suppresses the RT-publisher-lock spam).

Bridge tuning (gello_traj_bridge params): sync_speed (0.5 rad/s — startup/recovery ease-in speed), sync_tol (0.05 rad), command_dt (0.1 s — tracking horizon), max_time (8 s). Tracking after sync is uncapped, so these don't add teleop lag.

Key topics

• /gello/joint_states — GELLO → bridge (gello mode)
• /right_hand_pose, /right_hand_inputs — Quest → commander (quest mode)
• /fr3_arm_controller/joint_trajectory — bridge/commander → arm
• /gripper/gripper_client/target_gripper_width_percent — GELLO → gripper (gello mode)
• /spacenav/joy — SpaceMouse (error recovery btn 22, move-to-start btn 4)
• /franka_recovered — franka_error_recovery → bridge (re-sync/ease-in signal after a recovery)

Notes

• Requires the workspace's franka_ros2 (built); franka_hardware provides the /action_server/error_recovery action used by franka_error_recovery.
• Quest teleop needs the Meta Quest app streaming to quest_listener's TCP port (set its host/port to your machine).