├── .github └── workflows │ └── auto-comment.yml ├── .gitignore ├── .travis.yml ├── CMakeLists.txt ├── LICENSE ├── NOTICE ├── README.md ├── assets ├── moveit_demo.gif ├── panda_robot_demo.gif ├── panda_simulator.gif └── ts_demo.gif ├── cmake └── ClangTools.cmake ├── franka.sh ├── franka_common └── franka_core_msgs │ ├── CMakeLists.txt │ ├── msg │ ├── EndPointState.msg │ ├── JointCommand.msg │ ├── JointControllerStates.msg │ ├── JointLimits.msg │ └── RobotState.msg │ └── package.xml ├── franka_interface ├── CMakeLists.txt ├── README.md ├── config │ ├── basic_controllers.yaml │ └── robot_config.yaml ├── include │ └── franka_interface │ │ ├── motion_controller_interface.h │ │ └── robot_state_controller.h ├── launch │ └── interface.launch ├── package.xml ├── scripts │ ├── enable_robot.py │ ├── move_to_neutral.py │ └── simple_gripper.py ├── setup.py ├── src │ ├── franka_control_node.cpp │ ├── franka_dataflow │ │ ├── __init__.py │ │ ├── getch.py │ │ └── wait_for.py │ ├── franka_interface │ │ ├── __init__.py │ │ ├── arm.py │ │ ├── gripper.py │ │ ├── robot_enable.py │ │ └── robot_params.py │ ├── motion_controller_interface.cpp │ └── robot_state_controller.cpp ├── state_controller_plugin.xml └── tests │ ├── demo_interface.py │ ├── demo_joint_positions_keyboard.py │ └── test_zeroG.py ├── franka_moveit ├── CMakeLists.txt ├── README.md ├── config │ └── moveit_demo.rviz ├── launch │ └── demo_moveit.launch ├── package.xml ├── scripts │ └── create_demo_planning_scene.py ├── setup.py ├── src │ └── franka_moveit │ │ ├── __init__.py │ │ ├── extended_planning_scene_interface.py │ │ ├── movegroup_interface.py │ │ └── utils.py └── tests │ ├── test_movegroup_interface.py │ └── test_scene_interface.py ├── franka_ros_controllers ├── CMakeLists.txt ├── README.md ├── cfg │ └── joint_controller_params.cfg ├── config │ └── ros_controllers.yaml ├── controller_plugins.xml ├── include │ └── franka_ros_controllers │ │ ├── effort_joint_impedance_controller.h │ │ ├── effort_joint_position_controller.h │ │ ├── effort_joint_torque_controller.h │ │ ├── position_joint_position_controller.h │ │ └── velocity_joint_velocity_controller.h ├── package.xml ├── scripts │ └── test_controller.py └── src │ ├── effort_joint_impedance_controller.cpp │ ├── effort_joint_position_controller.cpp │ ├── effort_joint_torque_controller.cpp │ ├── position_joint_position_controller.cpp │ └── velocity_joint_velocity_controller.cpp ├── franka_ros_interface ├── CMakeLists.txt └── package.xml └── franka_tools ├── CMakeLists.txt ├── README.md ├── package.xml ├── setup.py └── src └── franka_tools ├── __init__.py ├── collision_behaviour_interface.py ├── controller_manager_interface.py ├── controller_param_config_client.py ├── frames_interface.py └── joint_trajectory_action_client.py /.github/workflows/auto-comment.yml: -------------------------------------------------------------------------------- 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