libfranka: C++ Library for Franka Robotics Research Robots

libfranka is a C++ library that provides low-level control of Franka Robotics research robots. The generated API documentation offers an overview of its capabilities, while the Franka Control Interface (FCI) documentation provides more information on setting up the robot and utilizing its features and functionalities.

To find the appropriate version to use, please refer to the Compatibility Matrix.

Key Features

• Low-level control: Access precise motion control for research robots.
• Real-time communication: Interact with the robot in real-time.

Getting Started

1. System Requirements

Before using libfranka, ensure your system meets the following requirements:

• Operating System: Linux with PREEMPT_RT patched kernel (Ubuntu 16.04 or later, Ubuntu 22.04 recommended)
• Compiler: GCC 7 or later
• CMake: Version 3.10 or later
• Robot: Franka Robotics robot with FCI feature installed

2. Installing dependencies

sudo apt-get update
sudo apt-get install -y build-essential cmake git libpoco-dev libeigen3-dev libfmt-dev

To use libfranka version 0.14.0 or later, you will need to install pinocchio and some more dependencies:

sudo apt-get install -y lsb-release curl
sudo mkdir -p /etc/apt/keyrings
curl -fsSL http://robotpkg.openrobots.org/packages/debian/robotpkg.asc | sudo tee /etc/apt/keyrings/robotpkg.asc

echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/robotpkg.asc] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -cs) robotpkg" | sudo tee /etc/apt/sources.list.d/robotpkg.list

sudo apt-get update
sudo apt-get install -y robotpkg-pinocchio

3. Building and Installation from Source

Before building and installing from source, please uninstall existing installations of libfranka to avoid conflicts:

sudo apt-get remove "*libfranka*"

Clone the Repository

You can clone the repository and choose the version you need by selecting a specific tag:

git clone --recurse-submodules https://github.com/frankarobotics/libfranka.git
cd libfranka

List available tags

git tag -l

Checkout a specific tag (e.g., 0.15.0)

git checkout 0.15.0

Update submodules

git submodule update

Create a build directory and navigate to it

mkdir build
cd build

Configure the project and build

cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_PREFIX_PATH=/opt/openrobots/lib/cmake -DBUILD_TESTS=OFF ..
make

Installing libfranka as a Debian Package (Optional but recommended)

Building a Debian package is optional but recommended for easier installation and management. In the build folder, execute:

cpack -G DEB

This command creates a Debian package named libfranka--.deb. You can then install it with:

sudo dpkg -i libfranka*.deb

Installing via a Debian package simplifies the process compared to building from source every time. Additionally the package integrates better with system tools and package managers, which can help manage updates and dependencies more effectively.

4. Usage

After installation, check the Minimum System and Network Requirements for network settings, the Operating System and PC Configuration for system setup, and the Getting Started Manual for initial steps. Once configured, you can control the robot using the example applications provided in the examples folder.

To run a sample program, navigate to the build folder and execute the following command:

./examples/communication_test <robot-ip>

License

libfranka is licensed under the Apache 2.0 license.