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@domire8 domire8 released this 27 Aug 11:02
· 11 commits to main since this release
v1.1
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Franka Lightweight Interface version 1.1

A lightweight interface to connect to the Franka Panda Emika robot, receive its state and send torques commands to the internal controller. It is made to be system agnostic (not relying on a ROS installation) and uses a ZMQ based communication process. The internal controller is a simple control loop that broadcasts the robot state and forwards the commanded torque to the robot.

The communication is based on the frankalwi::proto protocol in include/franka_lightweight_interface/franka_lwi_communication_protocol.h. The user will have to use the same protocol to communicate with the interface.

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