Repo symbol

libfranka repository

libfranka

Repository Summary

Checkout URI https://github.com/frankaemika/libfranka.git
VCS Type git
VCS Version main
Last Updated 2025-06-23
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
libfranka 0.15.0

README

libfranka: C++ Library for Franka Robotics Research Robots

[![codecov][codecov-status]][codecov]

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

Building a Debian package is optional but recommended for easier installation and management. In the build folder, execute:

File truncated at 100 lines see the full file

Repo symbol

libfranka repository

Repo symbol

libfranka repository

Repo symbol

libfranka repository

Repo symbol

libfranka repository

Repo symbol

libfranka repository

Repo symbol

libfranka repository

Repo symbol

libfranka repository

Repo symbol

libfranka repository

Repo symbol

libfranka repository

Repo symbol

libfranka repository

Repository Summary

Checkout URI https://github.com/frankaemika/libfranka.git
VCS Type git
VCS Version master
Last Updated 2022-08-31
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

No packages found.

README

libfranka: C++ library for Franka Emika research robots

Build Status codecov

With this library, you can control research versions of Franka Emika robots. See the Franka Control Interface (FCI) documentation for more information about what libfranka can do and how to set it up. The generated API documentation also gives an overview of its capabilities.

License

libfranka is licensed under the Apache 2.0 license.

Repo symbol

libfranka repository

Repo symbol

libfranka repository

Repo symbol

libfranka repository

Repo symbol

libfranka repository

Repo symbol

libfranka repository

Repo symbol

libfranka repository

Repository Summary

Checkout URI https://github.com/frankaemika/libfranka.git
VCS Type git
VCS Version master
Last Updated 2022-08-31
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

No packages found.

README

libfranka: C++ library for Franka Emika research robots

Build Status codecov

With this library, you can control research versions of Franka Emika robots. See the Franka Control Interface (FCI) documentation for more information about what libfranka can do and how to set it up. The generated API documentation also gives an overview of its capabilities.

License

libfranka is licensed under the Apache 2.0 license.

Repo symbol

libfranka repository

Repository Summary

Checkout URI https://github.com/frankaemika/libfranka.git
VCS Type git
VCS Version master
Last Updated 2022-08-31
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

No packages found.

README

libfranka: C++ library for Franka Emika research robots

Build Status codecov

With this library, you can control research versions of Franka Emika robots. See the Franka Control Interface (FCI) documentation for more information about what libfranka can do and how to set it up. The generated API documentation also gives an overview of its capabilities.

License

libfranka is licensed under the Apache 2.0 license.

Repo symbol

libfranka repository

Repository Summary

Checkout URI https://github.com/frankaemika/libfranka.git
VCS Type git
VCS Version master
Last Updated 2022-08-31
Dev Status DEVELOPED
Released RELEASED
Tags No category tags.
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

No packages found.

README

libfranka: C++ library for Franka Emika research robots

Build Status codecov

With this library, you can control research versions of Franka Emika robots. See the Franka Control Interface (FCI) documentation for more information about what libfranka can do and how to set it up. The generated API documentation also gives an overview of its capabilities.

License

libfranka is licensed under the Apache 2.0 license.