Control interface built on top of franka_ros that allows controlling the franka robot arm in several joint and Cartesian space impedance control schemes for interactive, safe and reactive (mostly DS-based) motion planning and learning.
License: MIT License
Dear Prof. Nadia Figueroa,
When I execute 'roslaunch franka_interactive_controllers franka_interactive_bringup.launch ' , the robot not shown. I want to find out why. Can you tell me about your version of Rviz? Also, what do you think caused it?
Thank you so much for your assistance.
Hi @nbfigueroa
thanks for providing this code. I am trying it on my Panda and came across an issue that (find mit_museum_inspection_demo)/config/museum_passiveDS_impedance_control_additional_params.yaml can't be found. I suspect that some other config file might do the job as well for the general public.
Which config yaml should be loaded in franka_interactive_bringup.launch ?
Thank you and greetings from Prague!
Jan
The complete error:
roslaunch franka_interactive_controllers franka_interactive_bringup.launch
... logging to /home/ros/.ros/log/22846d08-ca61-11ed-b3f3-65c8103e6fd8/roslaunch-pandart-34793.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
Resource not found: The following package was not found in <arg name="params_yaml_file" value="$(find mit_museum_inspection_demo)/config/museum_passiveDS_impedance_control_additional_params.yaml"/>: mit_museum_inspection_demo
ROS path [0]=/opt/ros/noetic/share/ros
ROS path [1]=/home/ros/panda_ctrl_ws/src/boost_sml
ROS path [2]=/home/ros/panda_ctrl_ws/src/easy_kinesthetic_recording
ROS path [3]=/home/ros/panda_ctrl_ws/src/franka_ros/franka_description
ROS path [4]=/home/ros/panda_ctrl_ws/src/franka_ros/franka_gripper
ROS path [5]=/home/ros/panda_ctrl_ws/src/franka_ros/franka_msgs
ROS path [6]=/home/ros/panda_ctrl_ws/src/franka_ros/franka_hw
ROS path [7]=/home/ros/panda_ctrl_ws/src/franka_ros/franka_control
ROS path [8]=/home/ros/panda_ctrl_ws/src/franka_ros/franka_example_controllers
ROS path [9]=/home/ros/panda_ctrl_ws/src/franka_ros/franka_gazebo
ROS path [10]=/home/ros/panda_ctrl_ws/src/franka_interactive_controllers
ROS path [11]=/home/ros/panda_ctrl_ws/src/franka_ros/franka_ros
ROS path [12]=/home/ros/panda_ctrl_ws/src/franka_ros/franka_visualization
ROS path [13]=/home/ros/panda_ctrl_ws/src/panda_moveit_config
ROS path [14]=/home/ros/panda_ctrl_ws/src/record_ros
ROS path [15]=/opt/ros/noetic/share
The traceback for the exception was written to the log file
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