Install franka_ros2 with pixi

Get Started

Default franka_ros2 setup

Get started with franka_ros2 faster using pixi:

pixi run setup
pixi run -e jazzy ros2 launch franka_bringup franka.launch.py robot_ip:=XXX.XXX.XXX.XXX load_gripper:=false

Use CRISP for control

Control the robots CRISP controllers (cartesian_impedance_controller, joint_impedance_controller ...)

# Add the CRISP controllers to the installation
pixi run crisp-clone  
pixi run build

pixi run -e jazzy franka robot_ip:=XXX.XXX.XXX.XXX controllers_yaml:=config/controllers.yaml load_gripper:=false

In a different terminal test following a figure-eight with the example file:

pixi run crisp-figure-eight

Or simple teleop with fixed orientation:

# Terminal A
pixi run -e jazzy franka robot_ip:=XXX.XXX.XXX.XXX controllers_yaml:=config/controllers.yaml load_gripper:=false namespace:=left

# Terminal B
pixi run -e jazzy franka robot_ip:=YYY.YYY.YYY.YYY controllers_yaml:=config/controllers.yaml load_gripper:=false namespace:=right

# Terminal C runs a crisp_py example where teleop is enabled
pixi run crisp-teleop

Enable FCI on the arm(s) before launching controllers using your usual manual prep script.