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Extending the Franka Emika Panda's Life: A ROS 2 Software Stack with a Reliable Position Interface

This paper releases an open-source ROS 2 software stack that restores ROS 2 support for the Franka Emika Panda and resolves the long-standing unreliability of its external position control interface. The authors' analysis attributes vibrations and protective stops to external control loop timing and sampling jitter rather than to limitations of the robot itself, and on that basis they propose an asynchronous hardware interface that decouples real-time communication from the ROS 2 control loop, a rate-matching mechanism for slower command sources, and a position-domain reference generation strategy.

Part of the event: Open-source software stack restores ROS 2 support for Panda

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