libfranka: C++ Library for Franka Robotics Research Robots

libfranka is a C++ library that provides low-level control of Franka Robotics research robots. The API References 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 Robot System Version Compatibility.

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

3. Install from Debian Package - Generic Pattern ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

::: note ::: title Note :::

The installation packages currently only support Ubuntu 20 (focal). Please ensure you are using this version to avoid compatibility issues. :::

Check your architecture:

dpkg --print-architecture

Download and install:

wget https://github.com/frankarobotics/libfranka/releases/download/<version>/libfranka_<version>_<Ubuntu_version>_<architecture>.deb
sudo dpkg -i libfranka_<version>_<Ubuntu_version>_<architecture>.deb

Replace <version> with the desired release version (e.g., 0.18.2, <Ubuntu_version> with focal and <architecture> with your system architecture (e.g., amd64 or arm64).

Example for version 0.18.2 on amd64:

wget https://github.com/frankarobotics/libfranka/releases/download/0.18.2/libfranka_0.18.2_focal_amd64.deb
sudo dpkg -i libfranka_0.18.2_focal_amd64.deb

If you prefer to build libfranka inside a Docker container, you can use the provided Docker setup. This ensures a consistent build environment and avoids dependency conflicts on your host system.

Docker creates a self-contained environment, which is helpful if:

• Your system doesn't meet the requirements
• You want to avoid installing dependencies on your main system
• You prefer a clean, reproducible setup

If you haven't already, clone the libfranka repository:

git clone --recurse-submodules https://github.com/frankarobotics/libfranka.git
cd libfranka
git checkout <desired-tag-or-branch>

Using Docker command line

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