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.
• Multi-platform support: Ubuntu 20.04, 22.04, and 24.04 LTS

1. System Requirements

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

Operating System:

• Ubuntu 20.04 LTS (Focal Fossa)
• Ubuntu 22.04 LTS (Jammy Jellyfish)
• Ubuntu 24.04 LTS (Noble Numbat)
• Linux with PREEMPT_RT patched kernel recommended for real-time control

Build Tools (for building from source):

• GCC 9 or later
• CMake 3.22 or later
• Git

Hardware:

• Franka Robotics robot with FCI feature installed
• Network connection to robot (1000BASE-T Ethernet recommended)

::: {#installation-debian-package} 2. Installation from Debian Package (Recommended) ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ :::

The easiest way to install libfranka is by using the pre-built Debian packages published on GitHub.

Supported Platforms

Ubuntu Version Codename Architecture Status ———————- ————– ————– ——————– 20.04 LTS focal amd64 Supported

22.04 LTS jammy amd64 Supported

24.04 LTS noble amd64 Supported ————————————————————————-

Quick Install

substitute [<libfranka_version>]{.title-ref} with the desired version number (e.g., [0.19.0]{.title-ref}). And substitute [<ubuntu_codename>]{.title-ref} with your Ubuntu codename (e.g., [focal]{.title-ref}, [jammy]{.title-ref}, [noble]{.title-ref}). you can find it by running [lsb_release -cs]{.title-ref}.

# Download package
wget https://github.com/frankarobotics/libfranka/releases/download/<libfranka_version>/libfranka_<libfranka_version>_<ubuntu_codename>_amd64.deb

# Download checksum
wget https://github.com/frankarobotics/libfranka/releases/download/<libfranka_version>/libfranka_<libfranka_version>_<ubuntu_codename>_amd64.deb.sha256

# Verify package integrity
sha256sum -c libfranka_<libfranka_version>_<ubuntu_codename>_amd64.deb.sha256

# Install package
sudo dpkg -i libfranka_<libfranka_version>_<ubuntu_codename>_amd64.deb

Example

The following example installs libfranka 0.19.0 on Ubuntu 22.04 (Jammy):

``` bash wget https://github.com/frankarobotics/libfranka/releases/download/0.19.0/libfranka_0.19.0_jammy_amd64.deb wget https://github.com/frankarobotics/libfranka/releases/download/0.19.0/libfranka_0.19.0_jammy_amd64.deb.sha256 sha256sum -c libfranka_0.19.0_jammy_amd64.deb.sha256 sudo dpkg -i libfranka_0.19.0_jammy_amd64.deb

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