libfranka: C++ Library for Franka Robotics Research Robots

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libfranka is a C++ library that provides low-level control of Franka Robotics research robots. The [generated API documentation][api-docs] offers an overview of its capabilities, while the [Franka Control Interface (FCI) documentation][fci-docs] 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][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][real-time-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][stack-of-tasks] 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/frankaemika/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:

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