1. Switch on the Franka
Press the power switch on the backside of the Control
2. Network setup:
Connection between the Control and the workstation:
The workstation’s network setting has already been configured, so you simply need to connect the workstation and the Control with an ethernet cable
Select network
Wired connection 1Open a browser, *Desk can be accessed via
https://172.16.0.2, although you will see a certificate warning in your browserUnlock joints
Activate FCI (make sure the operations mode is execution instead of programming. The status indicator should turn green when in execution mode)
*Desk is Franka Emika‘s web-based, intuitive and graphical programming and user interface
3. Switch off the Franka
First, shut down the system by clicking the option “shut-down” in the sidebar of
Desk. The safety locking system is activated, and Franka will shut down.Then, use the power switch on the back of the Control to disconnect Franka from the mains eletricity.
⚠️ Be aware: after using the switch to power the system off, please ensure to allow adequate waiting time (i.e. in the order of ~ 1 minute) before using it to power the system on again
Draft points:
The steps to use Franka emika and connect with ROS
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), local workstation network configuration: https://frankaemika.github.io/docs/getting_started.html#linux-workstation-network-configurationand 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:
...
ROS connection setup (not actively maintained, as we don’t use ROS for now):
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.
1. Switch on the Franka
Press the power switch on the backside of the Control
...
.
...
Connection between the Control and the workstation:
...
the workstation and
...
Select network Wired connection 1
...
your
...
Unlock joints
...
Activate FCI (make sure the operations mode is execution instead of programming. The status indicator should turn green when in execution mode)
*Desk is Franka Emika‘s web-based, intuitive and graphical programming and user interface
Connection between the workstation and your laptop over the same network (here we use the lab LAN TP-Link_2104)
...
You can run hostname to get the hostname of ROS master
3. Switch off the Franka
First, shut down the system by clicking the option “shut-down” in the sidebar of
Desk. The safety locking system is activated, and Franka will shut down.Then, use the power switch on the back of the Control to disconnect Franka from the mains eletricity.
⚠️ Be aware: after using the switch to power the system off, please ensure to allow adequate waiting time (i.e. in the order of ~ 1 minute) before using it to power the system on again
Draft points:
The steps to use Franka emika and connect with ROS
...
master
...
go to 172.16.0.2 to go to Desk . (Desk account: username: admin, pwd: VUsail@NU11), local workstation network configuration: https://frankaemika.github.io/docs/getting_started.html#linux-workstation-network-configuration
...
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:
...