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Open-source software stack restores ROS 2 support for Panda
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Antonio Langella and other authors have released an open-source ROS 2 software stack that restores ROS 2 support for the Franka Emika Panda robot and addresses the long-standing unreliability of its external position control interface. The authors' analysis suggests that the observed vibrations and protective stops stem from timing and sampling jitter in the external control loop, rather than from limitations of the robot itself; on this 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. The software stack was validated on two independent Panda platforms through motion planning, compliant control, position-controlled manipulation, and haptic teleoperation. The code and videos have been released on the project website.
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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.
arXiv cs.RO ·
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