Franka Panda - Pick and Place

Franka Panda ROS package for pick and place operations. This repo provides high level APIs for executing pick and place of objects. A workaround for grasping is implemented with Grasp Plugin. Includes both overhead and eye-in-hand RGBD sensor.

How to run the simulation

Clone the repo in your ROS workspace and install libfranka library

mkdir -p panda_ws/src
cd panda_ws/src
git clone git@github.com:cdbharath/franka_panda.git
cd ..
sudo apt install ros-<distro>-libfranka
catkin build
source devel/setup.bash

Use the following commands as per the requirement after building and sourcing the workspace

roslaunch panda_simulation panda_simulation.launch          # For position based joint controllers 
roslaunch panda_simulation panda_simulation_effort.launch   # For effort based joint controllers
roslaunch panda_simulation panda_eye_in_hand.launch         # For effort based joint controllers with eye in hand camera
roslaunch pick_and_place kinect.launch                      # For overhead camera 

How to use pick and place package

from pick_and_place.pick_and_place import PickAndPlace

pick_and_place = PickAndPlace(0.05, 0.5)             # Arguments: gripper z offset, intermediate vertical z stop
    
pick_and_place.setPickPose(0.4, 0.0, 0.1, 0, pi, 0)  # Arguments: x, y, z, roll, pitch, yaw 
pick_and_place.setDropPose(0.0, 0.4, 0.4, 0, pi, 0)  # Arguments: x, y, z, roll, pitch, yaw
pick_and_place.setGripperPose(0.01, 0.01)            # Arguments: finger1 linear movement, finger2 linear movement  
    
pick_and_place.execute_pick_and_place()              # For execution in joint space
pick_and_place.execute_cartesian_pick_and_place()    # For execution in cartesian space

References

1. Franka ROS
2. Erdals Blog
3. Grasp Plugin