With this library, you can control research versions of Franka Robotics robots. See the Franka Control Interface (FCI) documentation for more information about what libfranka can do and how to set it up. The generated API documentation also gives an overview of its capabilities.
The dependency of this library can be resolved via rosdep:
- Move to your colcon workspace root folder, e.g.
cd ~/ros2_ws/ # Change folder based on your system- Clone this repository
git clone --recurse-submodules git@github.com:unisa-acg/libfranka.git src/libfranka
cd src/libfranka/
git submodule update --init --recursive
cd -- Install dependencies (you need to be a superuser to do so)
rosdep install --from-paths src -y -iThis library can be installed via colcon from your colcon workspace root:
colcon build --packages-up-to libfranka --cmake-args -DCMAKE_BUILD_TYPE=ReleaseIf some compilation workings appear on googletest, you can safely ignore them.
libfranka is licensed under the Apache 2.0 license.