This package provides a teleoperation interface to control the Franka Emika Panda robot. This repository is cloned automatically into your workspace upon importing the repositories listed in the workspace.repos of the accompanying panda_ros2_gazebo repository. You should first consult the installation instructions provided there. Please also make sure to install xterm on your machine.
To launch this node, in a fresh terminal, source your workspace:
$ source install/setup.bash
and launch the teleop node with:
$ ros2 launch panda_teleop panda_teleop_control.launch.py mode:=<keyboard operation mode>
where <keyboard operation mode> is either:
teleopif you wish to move the end effector using keystroke mappings from the keyboard, orsetpointif you wish to specify an array of values denoting the end effector target pose directly.
Upon launching this node, an xterm console will appear. Press ENTER/RETURN to make the cursor and help text appear.
The table below shows the commands you can send to move the end effector in Cartesian space.
| Key | Direction |
|---|---|
u |
+x, +y |
i |
+x |
o |
+x, -y |
j |
+y |
l |
-y |
m |
-x, +y |
, |
-x |
. |
-x, -y |
t |
+z |
b |
-z |
U |
-r, -p |
I |
+r |
O |
+r, -p |
J |
+p |
L |
-p |
M |
-r, +p |
< |
-r |
> |
-r, -p |
y |
+yaw |
n |
-yaw |
z |
open/close grippers |
r |
return to HOME position |
q |
quit teleop control AND return to HOME position |
Notes:
- Euler angle representation used for the end effector orientation about the principal axes
- One press of each key causes the end effector to translate/rotate by 1 cm/1° in the desired direction.
- The workspace for the end effector is limited to the following dimensions:
| Direction | Limits | Units |
|---|---|---|
| x | [0, 1] | m |
| y | [-1, 1] | m |
| z | [0, 1] | m |
| roll | [-90, 90] | ° |
| pitch | [-90, 90] | ° |
| yaw | [-90, 90] | ° |