This repository contains ROS 2 packages for controlling a Franka FR3 arm with the Franka Hand using a 3Dconnexion SpaceMouse.
This package provides a Joint Impedance controller for a single Franka arm. It subscribes to a target cartesian velocity input and sends torque commands to the robot.
- Implements a
JointImpedanceControllerfor controlling the robot's torques. - Subscribes to
/franka_controller/target_cartesian_velocity_percenttopic for target cartesian velocity input.
franka.launch.py: Launches the Franka robot with the controller.joint_impedance_ik_controller.launch.py: Launches the Joint Impedance controller.
This package provides a ROS 2 node that reads input from a 3Dconnexion SpaceMouse and publishes it as geometry_msgs/Twist messages.
- Publishes SpaceMouse input to the
/franka_controller/target_cartesian_velocity_percenttopic. - Uses the
pyspacemouselibrary for device communication.
spacemouse_publisher.launch.py: Launches the SpaceMouse publisher node.
This package provides a ROS 2 node for managing the gripper of the Franka robot. It allows sending commands to control the gripper's width and perform homing actions.
- Subscribes to
/gripper_client/target_gripper_width_percentfor gripper width commands. - Supports homing and move actions for the gripper.
franka_gripper_client.launch.py: Launches the gripper manager node.
To build the project, use the following colcon command with CMake arguments, required for clang-tidy:
colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCHECK_TIDY=ONThe FrankaSingleArmControllers package comes with a set of tests, which can be executed using the following command:
colcon test --packages-select franka_single_arm_controllersTo get started with the SpaceMouse publisher and Joint Impedance controller:
-
Run the SpaceMouse Publisher
Launch the SpaceMouse publisher node to read input from the SpaceMouse and publish it as ROS 2 messages:ros2 launch spacemouse_publisher spacemouse_publisher.launch.py [operator_position_front:=<true_or_false>] [device_path:=<device-path>]
The
operator_position_frontparameter is optional. If not provided, it defaults toTrue.- Set
operator_position_front:=Trueif the operator is sitting in front of the robot. - Set
operator_position_front:=Falseif the operator is positioned elsewhere. Hint: This aligns the coordinate system of the SpaceMouse to the end-effector. Rotating the SpaceMouse can fulfill the same functionality, if, for example, you are seated on the robot's right side.
The
device_pathparameter is optional. If not provided, it defaults to'', leading to automatic SpaceMouse detection. This parameter is only required, if multiple devices are connected and a specific one shall be used as input device. If not defined, the first one found will be used. - Set
-
Launch the Joint Impedance Controller
Launch the controller to send torque commands to the Franka robot:ros2 launch franka_single_arm_controllers joint_impedance_ik_controller.launch.py robot_ip:=<robot-ip>
Replace
<robot-ip>with the IP address of your Franka robot. -
Launch the Gripper Manager Start the gripper manager node to control the gripper:
ros2 launch gripper_manager franka_gripper_client.launch.py
To enable teleoperation with multiple SpaceMice on a single device, you need to specify which SpaceMouse to use for each instance of the SpaceMouse Publisher. This can be achieved using the optional device_path parameter, as described in Getting Started, section 1.
To determine which connected HID (Human Interface Device) corresponds to each SpaceMouse, run the following command:
grep -H . /sys/class/hidraw/hidraw*/device/uevent | grep SpaceMouseThis will output something like: /sys/class/hidraw/hidraw1/device/uevent:HID_NAME=3Dconnexion SpaceMouse Wireless BT
In this example, hidraw1 is the identifier for the SpaceMouse. Based on this, the device_path for this SpaceMouse would be: /dev/hidraw1
Once you have identified the device_path for each SpaceMouse, you can launch multiple instances of the SpaceMouse Publisher. To avoid conflicts between instances, use different ROS_DOMAIN_IDs for each setup.
Set the ROS_DOMAIN_ID environment variable for each terminal before launching the node:
export ROS_DOMAIN_ID=<unique_id>Replace <unique_id> with a unique number for each instance. Ensure that all nodes belonging to the same setup use the same ROS_DOMAIN_ID.
- Identify the
device_pathfor each SpaceMouse (e.g.,/dev/hidraw1,/dev/hidraw2). - Open a new terminal for each SpaceMouse instance.
- Set a unique
ROS_DOMAIN_IDin each terminal:
export ROS_DOMAIN_ID=1 # For the first SpaceMouse
export ROS_DOMAIN_ID=2 # For the second SpaceMouse- Launch the SpaceMouse Publisher for each instance, specifying the corresponding
device_path:
ros2 launch spacemouse_publisher spacemouse_publisher.launch.py device_path:=/dev/hidraw1
ros2 launch spacemouse_publisher spacemouse_publisher.launch.py device_path:=/dev/hidraw2By following these steps, you can teleoperate multiple arms or setups simultaneously without conflicts.
- The
device_pathparameter is optional. If not specified, it defaults to''. - Ensure that each terminal running a SpaceMouse publisher uses a unique
ROS_DOMAIN_IDto avoid communication conflicts between instances, but remember to set the sameROS_DOMAIN_IDfor the terminals running the subscribing processes Gripper Manager and Franka Single Arm Controller controlling the respective robots.
- SpaceMouse Not Detected in Dev Container
If the SpaceMouse publisher fails to detect the device while running in a development container, try restarting the container.