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Building custom Franka controller for visual servoing

asked 2022-06-25 16:21:55 -0500

hmccarty
16 ●1 ●1

My goal is to control the Franka Panda system in cartesian velocity coordinates using vision data that is being published within my ROS network.

I'm currently writing a custom controller as recommended in Franka ROS: https://frankaemika.github.io/docs/fr...

The cartesian velocity controller works well, but I have no method of subscribing to the input data since Franka ROS controllers are real-time.

What is the recommended method of achieving this? I saw somewhere that ROS controllers can host services, but this seems suboptimal. Do I have to implement a hardware interface? And if so, how I can write that to wrap a ROS subscriber?

Thanks

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answered 2022-06-26 11:40:32 -0500

hmccarty
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I ended up using the realtime_tools package to solve this. You can use a RealtimeBuffer to pass data from your non-RT thread (like a subscriber callback) to a RT thread (like your controller update function). An example is detailed in the ackermann steering controller.

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Asked: 2022-06-25 16:21:55 -0500

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Last updated: Jun 25 '22

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Building custom Franka controller for visual servoing