使用 http 和 ws 协议访问和控制 franka 机械臂
Note
基于 franky 实现 (Frankx 已弃更)
- 接口简单易用，参数格式统一
- 通过
request_future和async支持异步请求 - 客户端无需配置对应环境，仅需使用网络请求即可与机械臂交互
- 支持
http和ws协议，支持高频率（≈ 4000次/秒）请求和推送状态 - 支持区分不同机械臂实例启动（传参时用不同编号启动不同 IP 机械臂）
- 在虚拟环境中配置
franky pip install -r requirements.txt
# 建议配置单独的 Python 虚拟环境
conda activate franky
# 启动服务
python main.py [设备编号]Note
在浏览器中打开 http://[部署设备 IP]:[部署端口]/docs 查看接口的使用方法
| 编号 | 机械臂型号 | IP 地址 | 部署IP | 部署端口 |
|---|---|---|---|---|
2 |
FR3 | 172.16.0.2 |
192.168.100.159 |
29000 |
3 |
FR3 | 172.16.0.3 |
192.168.100.159 |
29001 |
Warning
以下环境测试通过，其他环境需要自行验证：
- 系统：Ubuntu 20.04, Python 3.10
- 机械臂：FR3
pip install franky-control -i https://pypi.org/simple
ERROR: Could not find a version that satisfies the requirement franky-control (from versions: none)
ERROR: No matching distribution found for franky-control
国内源导致，推荐使用源码编译安装。
# 推荐将 libfranka 的链接路径写到 .bashrc 中
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/franka/code/libfranka/build
# 开始构建
# 需要先下载 eigen-3.4 到本地构建安装
mkdir -p build && cd build
cmake \
-DCMAKE_BUILD_TYPE=Release \
-DCMAKE_PREFIX_PATH="/usr/local" \
-DCMAKE_PREFIX_PATH=~/local/eigen-3.4 \
-DFranka_DIR:PATH=/home/franka/code/libfranka/build \
-DPYBIND11_INCLUDE_DIR=$(python -m pybind11 --includes | sed -e 's/-I//g') \
-DBUILD_TESTS=off \
..
# 安装
make
sudo make install
cd ..
## 安装 python 版本
# pip install -e .
~/miniconda3/envs/franky/bin/pip install -e ....
sys.path.append("/home/franka/miniconda3/envs/franky/lib/python3.10/site-packages")
import pybind11
from setuptools import setup, Extension, find_packages
from setuptools.command.build_ext import build_ext
pybind11_cmake_dir = pybind11.get_cmake_dir()
pybind11_include = pybind11.get_include()
print(f"pybind11_cmake_dir={pybind11_cmake_dir}")
class CMakeBuild(build_ext):
...
def build_extension(self, ext):
ext_dir = Path(self.get_ext_fullpath(ext.name)).parent.resolve()
build_type = os.environ.get("BUILD_TYPE", "Release")
build_args = ["--config", build_type]
# 执行
# export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/home/franka/code/libfranka/build
cmake_args = [
f"-DPYBIND11_DIR={pybind11_cmake_dir}",
f"-DPYBIND11_INCLUDE_DIR={pybind11_include}",
f"-DCMAKE_PREFIX_PATH={pybind11_cmake_dir};/usr/local;{os.path.expanduser('~/local/eigen-3.4')}",
"-DCMAKE_LIBRARY_OUTPUT_DIRECTORY={}/".format(ext_dir),
"-DPYTHON_EXECUTABLE={}".format(sys.executable),
"-DCMAKE_BUILD_TYPE={}".format(build_type),
"-DBUILD_EXAMPLES=OFF",
"-DBUILD_PYTHON_STUBS=ON",
"-DBUILD_TESTS=OFF",
"-DBUILD_SHARED_LIBS=OFF",
"-DCMAKE_BUILD_WITH_INSTALL_RPATH=TRUE",
"-DCMAKE_INSTALL_RPATH=$ORIGIN",
"-DCMAKE_POSITION_INDEPENDENT_CODE=ON",
"-DFranka_DIR:PATH=/home/franka/code/libfranka/build",
# "-Dpybind11_DIR=`pybind11-config --cmakedir`",
# "-DCMAKE_PREFIX_PATH=/usr/local",
# "-DCMAKE_PREFIX_PATH=~/local/eigen-3.4",
# f"-DPYBIND11_INCLUDE_DIR={pybind11.get_include()}",
]
Path(self.build_temp).mkdir(exist_ok=True, parents=True)
subprocess.check_call(["cmake", str(Path(".").resolve())] + cmake_args, cwd=self.build_temp)
subprocess.check_call(
["cmake", "--build", ".", "--target", "_franky"] + build_args +
["--", "-j", str(multiprocessing.cpu_count())], cwd=self.build_temp)
...robot.translation_velocity_limit.set(3.0)
robot.rotation_velocity_limit.set(2.5)在配置机械臂时提示无法在控制状态下修改速度， 已反馈该问题：TimSchneider42/franky#36
修复方法：
// (line 16) 添加一个 "!"
#define LIMIT_INIT(name, value_panda, value_fer) \
name, SEL_VAL(value_panda, value_fer), control_mutex_, [this] { return !is_in_control_unsafe(); }