Welcome to franka-interface’s Documentation!¶
This library was designed to be used on an Ubuntu 18.04 / 20.04 PC with a Realtime Kernel Patch. The instructions in the Installation page will guide you through the process of installing a Realtime Kernel Patch. We are currently supporting ROS Melodic / Noetic and ROS2 Foxy / Humble at the moment.
To join the Discord community, click the link here.
If this library proves useful to your research, please cite the paper below:
@article{zhang2020modular,
title={A modular robotic arm control stack for research: Franka-interface and frankapy},
author={Zhang, Kevin and Sharma, Mohit and Liang, Jacky and Kroemer, Oliver},
journal={arXiv preprint arXiv:2011.02398},
year={2020}
}
Note that this library has been released with the MIT license.