User talk:S152751

Franka Emika Panda setup

This page contains an overview of the steps taken in installing and configuring the franka emika panda robot.

The Franka Emika Panda robot will be referred to as 'Panda'

Page is under construction.

Installed system hardware

• Panda robot, serial: 289830-1326311
• Panda control box
• PC info to be added

Installing from scratch

• Install ubuntu. Version used: 18.04 LTS
• Update ubuntu
• Install VisualStudio Code (via ubuntu software)
• Setup exstensions for VSCode
  • C/C++ for Visual Studio Code
  • C++ Intellisense
  • C/C++ Clang Command Adapter
  • CMake
  • CMake Tools
• Install CMAKE (via ubuntu software. Version >3.1)
• Install catkin (-y checks for dependencies)
  • sudo sudo apt-get update -y
  • sudo apt-get install -y catkin
• Install gcc > 4.8
  • sudo apt-get update
  • sudo apt-get install gcc
• Install clang
  • sudo apt-get update
  • sudo apt-get install clang
• Install curl
  • sudo apt-get update
  • sudo apt-get install curl
• Install git
  • sudo apt-get update
  • sudo apt-get install git
• REBOOT SYSTEM
• Install ros-melodic-desctop-full
  • http://wiki.ros.org/melodic/Installation/Ubuntu
  • after install, rosdep might have to be installed manually (between step 14-1.5): sudo apt install python-rosdep2

• NOTE: not needed, gazebo ROS comes with gazebo.Install gazebo (command will install latest version. Currently 9)
  • curl -ssL http://get.gazebosim.org | sh

• Install ORCA. Note this will also install iDynTree, qpOASES and Eigen3. Git clone will make a folder called 'orca'. alternatively you can instlall the dependencies manually
  • git clone https://github.com/syroco/orca
  • cd orca
  • mkdir build ; cd build
  • cmake .. -DCMAKE_BUILD_TYPE=Release
  • cmake --build .
  • sudo cmake --build . --target install

• create symbolic links
  • sudo ln -s /usr/include/eigen3/Eigen /usr/include/Eigen
  • sudo ln -s /usr/include/eigen3/unsupported /usr/include/unsupported
  • sudo ln -s /usr/include/gazebo-9/gazebo /usr/include/gazebo
  • sudo ln -s /usr/include/sdformat-6.0/sdf /usr/include/sdf
  • sudo ln -s /usr/include/ignition/common1/ignition/common /usr/include/ignition/common
  • sudo ln -s /usr/include/ignition/common1/ignition/common.hh /usr/include/ignition/common.hh

• • sudo ln -s /usr/include/ignition/fuel_tools1/ignition/fuel_tools /usr/include/ignition/fuel_tools
  • sudo ln -s /usr/include/ignition/fuel_tools1/ignition/fuel_tools.hh /usr/include/ignition/fuel_tools.hh

• • sudo ln -s /usr/include/ignition/math4/ignition/math /usr/include/ignition/math
  • sudo ln -s /usr/include/ignition/math4/ignition/math.hh /usr/include/ignition/math.hh

• • sudo ln -s /usr/include/ignition/msgs1/ignition/msgs /usr/include/ignition/msgs
  • sudo ln -s /usr/include/ignition/msgs1/ignition/msgs.hh /usr/include/ignition/msgs.hh

• • sudo ln -s /usr/include/ignition/transport4/ignition/transport /usr/include/ignition/transport
  • sudo ln -s /usr/include/ignition/transport4/ignition/transport.hh /usr/include/ignition/transport.hh

• • install franka-ros and libfranka

• Windows 10, in dual boot system with Ubuntu (see below)
• Ubuntu 18.04 LTS
• Ubuntu 5.0.21-rt16 kernel. Note: use ubuntu 5.0.21-rt16.signed during boot
• CMake >3.1
• GCC >4.8
• Clang >3.8
• ORCAEditing User talk:S152751 (section) - Control Systems Technology Group
• iDYnTree (dependency of ORCA)
• qpOASES (dependency of ORCA)
• Eigen 3 (dependency of ORCA)
• Gazebo-9
• Libfranka
• ros-melodic
• FCI installed on robot control

sudo apt --fix-broken install

Install manuals

Installation of ORCA and dependencies: [1]

Installation of libfranka: [2]

Extra steps taken to achieve signed rt kernel: [3] + disable secure boot in BIOS

Notes

check_urdf /path/to/file.urdf can be used to check urdf file itself

Simulating fixed based panda robot needs a intermediate link (e.g. a table) between robot base and world (workaround)