The current recommended workflow for controlling the real robot with ROS involves using the lab laptop as the ROS master and your personal laptop to send ROS commands, instead of directly running ROS master on your machine. This approach is considered preferable because installing a real-time Linux kernel is necessary to use libfranka, and the installation process might not be straightforward. The lab laptop Katana 067526 (referred to as the workstation here) already has this kernel installed. If you prefer reducing communication latency by eliminating the lab laptop as a ROS master and directly using your own machine as a workstation, you have the option to install the real-time kernel on your own machine. Instructions for this process can be found here:https://frankaemika.github.io/docs/installation_linux.html#setting-up-the-real-time-kernel.
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Connect the machine running ROS master and the controller with an ethernet cable
go to 172.16.0.2 to go to Desk . (Desk account: username:
admin, pwd:VUsail@NU11)and first unlock joints
and click activate FCI (at N/A)
how to build real time kernel (https://github.com/frankaemika/libfranka/issues/62 )
after building it, make sure the secure boot is disabled, see https://frankaemika.github.io/docs/troubleshooting.html#troubleshooting-realtime-kernel
The lab laptop Katana 067526 with rt kernel installed, username: sail, password: VUsail@NU11
Overview of the status indicators:
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