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‎README.md

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See the [Franka Control Interface (FCI) documentation][fci-docs] for more information.
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## My Changes
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In order to integrate the panda robot into gazebo I made changes to the following files:
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- franka_description/robots/hand.xacro
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- franka_description/robots/panda_arm.xacro
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- franka_description/robots/panda_arm_hand.urdf.xacro
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I added the following files to the repository:
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- franka_description/robots/panda.gazebo.xacro
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- franka_description/robots/panda.transmission.xacro
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## License
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All packages of `franka_ros` are licensed under the [Apache 2.0 license][apache-2.0].

‎franka_description/robots/panda.gazebo.xacro

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="panda_gazebo" params="robot_name">
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<!-- Link0 -->
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<gazebo reference="${robot_name}_link0">
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<material>Gazebo/Grey</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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</gazebo>
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<!-- Link1 -->
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<gazebo reference="${robot_name}_link1">
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<material>Gazebo/White</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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</gazebo>
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<!-- Link2 -->
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<gazebo reference="${robot_name}_link2">
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<material>Gazebo/White</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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</gazebo>
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<!-- Link3 -->
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<gazebo reference="${robot_name}_link3">
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<material>Gazebo/White</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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</gazebo>
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<!-- Link4 -->
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<gazebo reference="${robot_name}_link4">
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<material>Gazebo/White</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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</gazebo>
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<!-- Link5 -->
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<gazebo reference="${robot_name}_link5">
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<material>Gazebo/White</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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</gazebo>
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<!-- Link6 -->
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<gazebo reference="${robot_name}_link6">
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<material>Gazebo/White</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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</gazebo>
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<!-- Link7 -->
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<gazebo reference="${robot_name}_link7">
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<material>Gazebo/Grey</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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</gazebo>
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<!-- Link8 -->
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<gazebo reference="${robot_name}_link8">
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<material>Gazebo/Grey</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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</gazebo>
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<!-- LinkHand -->
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<gazebo reference="${robot_name}_hand">
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<material>Gazebo/Grey</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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</gazebo>
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<!-- LinkRightFinger -->
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<gazebo reference="${robot_name}_rightfinger">
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<material>Gazebo/Grey</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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</gazebo>
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<!-- LinkLeftFinger -->
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<gazebo reference="${robot_name}_leftfinger">
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<material>Gazebo/Grey</material>
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<mu1>0.2</mu1>
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<mu2>0.2</mu2>
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</gazebo>
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</xacro:macro>
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</robot>
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‎franka_description/robots/panda.transmission.xacro

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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="panda_transmission" params="robot_name">
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<!-- Load Gazebo lib and set the robot namespace -->
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<gazebo>
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<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
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<!-- <robotNamespace>/${robot_name}</robotNamespace> -->
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</plugin>
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</gazebo>
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<transmission name="${robot_name}_tran_1">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${robot_name}_joint1">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="${robot_name}_motor_1">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="${robot_name}_tran_2">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${robot_name}_joint2">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="${robot_name}_motor_2">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="${robot_name}_tran_3">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${robot_name}_joint3">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="${robot_name}_motor_3">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="${robot_name}_tran_4">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${robot_name}_joint4">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="${robot_name}_motor_4">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="${robot_name}_tran_5">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${robot_name}_joint5">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="${robot_name}_motor_5">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="${robot_name}_tran_6">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${robot_name}_joint6">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="${robot_name}_motor_6">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="${robot_name}_tran_7">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${robot_name}_joint7">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="${robot_name}_motor_7">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="${robot_name}_leftfinger">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${robot_name}_finger_joint1">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="${robot_name}_finger_joint1">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="${robot_name}_rightfinger">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${robot_name}_finger_joint2">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="${robot_name}_finger_joint2">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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</xacro:macro>
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</robot>

‎franka_example_controllers/launch/hiro_cartesian_impedance_example_controller.launch

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<launch>
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<arg name="robot" default="fr3" doc="choose your robot. Possible values: [panda, fr3]"/>
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<arg name="arm_id" default="$(arg robot)" />
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<arg name="robot_ip" default="192.168.0.198"/>
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<include file="$(find franka_control)/launch/franka_control.launch" pass_all_args="true"/>
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<rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" subst_value="true" />
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<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="hiro_cartesian_impedance_example_controller"/>

‎franka_example_controllers/launch/hiro_joint_impedance_example_controller.launch

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<launch>
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<arg name="robot" default="fr3" doc="choose your robot. Possible values: [panda, fr3]"/>
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<arg name="arm_id" default="$(arg robot)" />
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<arg name="robot_ip" default="192.168.0.198"/>
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<include file="$(find franka_control)/launch/franka_control.launch" pass_all_args="true"/>
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<rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" subst_value="true" />
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<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="hiro_joint_impedance_example_controller"/>

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