Panda FER with ROS2

Clone the repo with the --recursive flag:

git clone --recursive <url>

This will include the franka_ros2 submodule. This modifies the franka_ros2 from mcbed and fixes some problems with the warehouse_ros dependencies.

Docker setup

If you make any changes or if it is the first time you create it, you can build the docker with:

sudo docker build -t "bimanual:franka" ./

Then you can start the container with:

xhost +; sudo docker compose -f docker-compose.yml up

You should see and output like this:

access control disabled, clients can connect from any host
[+] Running 1/1
 ✔ Container realtime_humble  Recreated      0.4s 
Attaching to realtime_humble

Finally, in another terminal, to enter the container:

sudo docker exec -it realtime_humble bash

Using this container

You would need to do, as it is not yet defined in the Dockerfile:

cd ~/humble_ws
rosdep install -i --from-path src --rosdistro humble -y --skip-keys "ros-humble-libfranka"

You can build with

cd ~/humble_ws
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

Remember to source the workspace:

source ~/humble_ws/install/setup.bash