Franka Toolbox for MATLAB: Matlab & Simulink library for Franka Robotics research robots

A Simulink & Matlab library and tools for the Franka Robotics Robots based on the Franka Control Interface (FCI). See the documentation page for more information.

The repository includes a complete franka.mtlbx distribution (including pre-built binaries) which you can find either under the dist folder or in the github release page.

You can alternatively build the project for your own machine configuration following the instructions bellow.

Generating a franka.mtlbx distribution

1. Requirements:

• Host PC: Windows

  • MATLAB R2022a or newer
  • Microsoft Visual Studio 2019 or newer
  • CMake 3.15 or newer
  • Git
  • Cap'n Proto: check https://capnproto.org/install.html#installation-windows

• Host PC: Linux

  • MATLAB R2022a or newer
  • Build essentials (gcc, g++, make)
  • CMake 3.15 or newer
  • Git
  • Cap'n Proto (build static library):

    # Install build dependencies
    sudo apt-get update
    sudo apt-get install -y build-essential cmake autoconf pkg-config libtool
    
    # Download and build Cap'n Proto from source
    curl -O https://capnproto.org/capnproto-c++-1.1.0.tar.gz
    tar zxf capnproto-c++-1.1.0.tar.gz
    cd capnproto-c++-1.1.0
    mkdir build && 
    cd build && 
    cmake -DBUILD_TESTING=OFF -DCMAKE_POSITION_INDEPENDENT_CODE=ON .. && 
    make -j10 && 
    sudo make install && 
    cd ../.. && 
    rm -rf capnproto-c++-1.1.0* && 
    sudo ldconfig

• Target PC: Host PC Linux or Jetson platform connected

  • libfranka's 3d party dependencies (based on libfranka's version). Refer to the Documentation for more information. The dependencies in the local Linux native target PC (not AI Companion) should be installed in the native system and not in a container. For the AI compantion a running container can be targeted as well.
  • ssh keys setup for connection without password request.
  • Cap'n Proto (build static library):

    # Install build dependencies
    sudo apt-get update
    sudo apt-get install -y build-essential cmake autoconf pkg-config libtool
    
    # Install capnproto
    curl -O https://capnproto.org/capnproto-c++-1.1.0.tar.gz && 
    tar zxf capnproto-c++-1.1.0.tar.gz && 
    cd capnproto-c++-1.1.0 && 
    mkdir build && 
    cd build && 
    cmake -DBUILD_TESTING=OFF .. && 
    make -j3 && 
    sudo make install && 
    cd ../.. && 
    rm -rf capnproto-c++-1.1.0* && 
    sudo ldconfig

2. Set the desired libfranka version in the libfranka_ver.csv file under the configs folder

3. Build the binaries:

   1. If executed in windows: franka_toolbox_binaries_all_build(); will generate the necessary binaries for windows host (no libfranka related).

   2. If executed in Linux: franka_toolbox_binaries_all_build(); will generate the necessary binaries for linux host (no libfranka related) + the necessary binaries for linux as target (libfranka dependent).

   3. If executed with AI Companion connected as well from Linux host: franka_toolbox_binaries_all_build(user,ip,port); will generate the necessary binaries for linux host (no libfranka related) + the necessary binaries for linux as target (libfranka dependent) + the necessary binaries for the AI Companion (libfranka dependent).

   For generating all the necessary binaries for the final project packaging & distribution --> Steps 1. & 3. MUST be performed!

   a. First from a Ubuntu Host PC with AI companion PC connected with user, ip, port provided

   >> franka_toolbox_binaries_all_build(user, ip, port);
   

   b. Then from a Windows Host PC (no Jetson connected)

   >> franka_toolbox_binaries_all_build();
   

   For Windows only the Simulink sfunctions and the Matlab Franka Robot client will be built.

4. Generate the distribution (Tested in Linux Host PC):

   >> franka_toolbox_dist_make();