A standard bare-bone ROS Gazebo simulator for the Franka Emika Panda robot built using inbuilt Gazebo ROS controllers and RobotHW interfaces. Robot controllable using standard ROS control interfaces. No dependencies on franka_ros or libfranka.
NOTE: This package by default does not depend on franka_ros or libfranka, however using it with this plugin (thanks to @smihael!) allows using similar interfaces as the real robot. This allows using the Gazebo simulator for running the controller examples in franka_ros, and writing other controller codes using the same interfaces as the real robot.
NOTE: For a more complex simulator allowing transfer of code from sim-to-real, see PandaSimulator.
- Hardware interface: hardware_interface/EffortJointInterface
- Transmission interface: transmission_interface/SimpleTransmission
- Controllers:
- gazebo_panda/effort_joint_position_controller: effort_controllers/JointGroupPositionController
- gazebo_panda/effort_joint_torque_controller: effort_controllers/JointGroupEffortController
- gazebo_panda/panda_gripper_controller: effort_controllers/JointGroupPositionController