User talk:S152751

Franka Emika Panda setup

This page contains an overview of the steps taken in installing and configuring the franka emika panda robot.

The Franka Emika Panda robot will be referred to as 'Panda'

Page is under construction.

Installed system hardware

• Panda robot, serial: 289830-1326311
• Panda control box

Installed software

• Windows 10, in dual boot system with Ubuntu (see below)
• Ubuntu 18.04 LTS
• Ubuntu 5.0.21-rt16 kernel. Note: use ubuntu 5.0.21-rt16.signed during boot
• CMake >3.1
• GCC >4.8
• Clang >3.8
• ORCAEditing User talk:S152751 (section) - Control Systems Technology Group
• iDYnTree (dependency of ORCA)
• qpOASES (dependency of ORCA)
• Eigen 3 (dependency of ORCA)
• Gazebo-9
• Libfranka
• ros-melodic
• FCI installed on robot control

Install manuals

Installation of ORCA and dependencies: [1]

Installation of libfranka: [2]

Extra steps taken to achieve signed rt kernel: [3] + disable secure boot in BIOS

Notes

check_urdf /path/to/file.urdf can be used to check urdf file itself

Simulating fixed based panda robot needs a intermediate link (e.g. a table) between robot base and world (workaround)