Instructions (ROS2)

citation

Please cite this repo if you are using it or part of it. @software{h2r_franka_ROS2, author = {Jia, Mingxi and Tellex, Stefanie}, doi = {10.5281/zenodo.15098249}, month = {3}, title = {{h2r_franka_ROS2}}, url = {https://github.com/mingxi-jia/h2r_franka_ROS2}, version = {1.0.0}, year = {2025} }

documentation

here is some more info (https://happy-wound-99f.notion.site/Tigress-documentation-15fc376d918d80daab7dfa9f3d2e9d65?pvs=4)

robot

```

(option 1) open robot without moveit

ros2 launch frankabringup franka.launch.py robotip:= armid:=fr3 userviz:=true

(option 2) open robot with official moveit

ros2 launch launch/moveit.launch.py robot_ip:=

(option 3) open robot with modified real-time servoing moveit

ros2 launch franka bringup franka.launch.py robotip:= ros2 service call /servonode/startservo stdsrvs/srv/Trigger ros2 run ~/pandaws/code/spacemouseservo_pub.py

open gripper

ros2 launch frankagripper gripper.launch.py robotip: ```

robot commands

ros2 action send_goal -f /franka_gripper/grasp franka_msgs/action/Grasp "{width: 0.00, speed: 0.03, force: 1}" ros2 action send_goal -f /franka_gripper/homing franka_msgs/action/Homing {}

cameras

```

open cameras

ros2 launch launch/launchallcameras.launch.py ```

calibration

cd ros_ws/src git clone https://github.com/marcoesposito1988/easy_handeye2 cd ros_ws rosdep install -iyr --from-paths src colcon build # remember to change the parameters in launch file # please make sure the topics are available and the aruco tag is visible, or # the GUI won't work ros2 launch h2r_franka_ROS2/launch/eye_on_base.launch.py # eye-on-base ros2 launch h2r_franka_ROS2/launch/eye_in_hand.launch.py # eye-in-hand

tricks (ROS2)

```

rqt

rqt --clear-config

rviz

ros2 run rviz2 rviz2

see transformation

ros2 run tf2ros tf2echo fr3link0 davelink

load parameters

ros2 param load /dave/davecamera configs/daveconfig.yaml ```

Instructions (ROS1)

1. Cameras ``` roslaunch realsense2camera rscamera.launch serialno:=234322306820 camera:=bob aligndepth:=true depthwidth:=640 depthheight:=480 depthfps:=15 colorwidth:=640 colorheight:=480 colorfps:=15 roslaunch realsense2camera rscamera.launch serialno:=f1420123 camera:=kevin aligndepth:=true depthwidth:=640 depthheight:=480 depthfps:=15 colorwidth:=640 colorheight:=480 colorfps:=15 roslaunch realsense2camera rscamera.launch serialno:=234222301686 camera:=stuart aligndepth:=true depthwidth:=640 depthheight:=480 depthfps:=15 colorwidth:=640 colorheight:=480 colorfps:=15 roslaunch realsense2camera rscamera.launch serialno:=239222303414 camera:=mel aligndepth:=true depthwidth:=640 depthheight:=480 depthfps:=15 colorwidth:=640 colorheight:=480 colorfps:=15 roslaunch realsense2camera rscamera.launch serialno:=239222303046 camera:=dave aligndepth:=true depthwidth:=640 depthheight:=480 depthfps:=15 colorwidth:=640 colorheight:=480 colorfps:=15

   ```

2. publish poses roslaunch camera_pose_publisher.launch

3. open gripper with command line rostopic pub --once /franka_gripper/move/goal franka_gripper/MoveActionGoal "goal: { width: 0.1, speed: 0.1 }"