Franka driver

[sangww]

From Sang from the workshop. I am happy to help with the Franka implementing/testing. I have been looking into libFranka and trying to understand what the drivers should look. No idea about URDF stuff. Are those two basically the only things that are needed? Once these are done I can test it on Franka as well.

[danzeeeman]

Hey Sang!
I briefly looked into libFranka and there might be some dependency issues with Poco. I'm going to look at it and see if I can't compile it with the poco that OF ships. As for the driver I would look at the https://github.com/frankaemika/libfranka/blob/master/examples/generate_joint_position_motion.cpp example connects to the bot and sends joint positions https://github.com/frankaemika/libfranka/blob/master/examples/examples_common.cpp#L114 via callbacks

[danzeeeman]

and reading the state from it like this https://github.com/frankaemika/libfranka/blob/master/examples/echo_robot_state.cpp#L23

[danzeeeman]

I really don't like the way they structure libFranka its all C++ lambdas which just makes things a little complicated

[sangww]

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[danzeeeman]

weird....I'll look into it...I also need to look into this bug with the URDF loader it does the same thing for the xArm series so I think there is something up with how I'm parsing URDFs