Franka FR3 Robotics Integration

This repository branch contains the ROS 2 Humble development environment and MoveIt 2 configurations for the Franka Emika FR3 robot. The setup is optimized for WSL2 (Ubuntu 22.04) environments and is designed to interface with the project's computer vision modules.

• Simulation: Provides a stable MoveIt 2 environment using fake_hardware for trajectory validation.
• Robot Logic: Contains the franka_pick_place package for implementing pick-and-place task execution.
• Physical Constraints: Will enforce safety limits based on the FR3 datasheet, including the 855mm reach, 83mm maximum gripper width, and $A4$ joint limits of $-176^\circ$ to $-4^\circ$.

Setup

Teammates joining this branch are recommended to follow these procedures within a WSL terminal to initialize the workspace.

1. Workspace Initialization

mkdir -p ~/franka_ros2_ws/src
cd ~/franka_ros2_ws/src
# Clone this specific integration branch
git clone -b robotics_integration [https://github.com/suchirss/franka-pick-and-place.git](https://github.com/suchirss/franka-pick-and-place.git)

2. Dependency Management

Ensure the ROS 2 Humble environment is sourced before resolving dependencies.

cd ~/franka_ros2_ws
rosdep install --from-paths src --ignore-src -r -y

3. Build Procedure

To prevent memory allocation failures or hanging in WSL, libfranka and the workspace must be built using a single parallel worker.

colcon build --symlink-install --packages-select libfranka --parallel-workers 1
colcon build --symlink-install --parallel-workers 1
source install/setup.bash

Running the Simulation

Execute the following command to initialize the FR3 model in RViz with the MoveIt 2 planning scene and fake hardware controllers active.

# Source ROS 2 Humble system
source /opt/ros/humble/setup.bash

# Source your local Franka workspace
source ~/franka_ros2_ws/install/setup.bash

# Launch the simulation
ros2 launch franka_fr3_moveit_config moveit.launch.py
  robot_ip:=dont-care use_fake_hardware:=true