• launch/panda.launch
  • • gazebo [default: true] — Should the gazebo simulation be launched? Use false in case if you want to include this file and launch gazebo yourself
    • headless [default: false] — Should the gazebo GUI be launched?
    • paused [default: false] — Should the simulation directly be stopped at 0s?
    • world [default: worlds/empty.world] — Filename to a SDF World for gazebo to use
    • rviz [default: false] — Should RVIz be launched?
    • arm_id [default: panda] — Name of the panda robot to spawn
    • use_gripper [default: true] — Should a franka hand be mounted on the flange?
    • controller [default: ] — Which example controller should be started? (One of {cartesian_impedance,model,force,joint_position,joint_velocity}_example_controller)
    • x [default: 0] — How far forward to place the base of the robot in [m]?
    • y [default: 0] — How far leftwards to place the base of the robot in [m]?
    • z [default: 0] — How far upwards to place the base of the robot in [m]?
    • roll [default: 0] — How much to rotate the base of the robot around its X-axis in [rad]?
    • pitch [default: 0] — How much to rotate the base of the robot around its Y-axis in [rad]?
    • yaw [default: 0] — How much to rotate the base of the robot around its Z-axis in [rad]?
    • initial_joint_positions [default: -J $(arg arm_id)_joint1 0 -J $(arg arm_id)_joint2 -0.785398163 -J $(arg arm_id)_joint3 0 -J $(arg arm_id)_joint4 -2.35619449 -J $(arg arm_id)_joint5 0 -J $(arg arm_id)_joint6 1.57079632679 -J $(arg arm_id)_joint7 0.785398163397 -J $(arg arm_id)_finger_joint1 0.001 -J $(arg arm_id)_finger_joint2 0.001] — Initial joint configuration of the panda. Specify as a list of name/value pairs in form of '-J [name-of-joint] [value-in-rad]'. Default is a 90 degree bend in the elbow

• controller_interface
• gazebo_ros_control

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