HOCBF-FR3-Experiments

Detailed Implementation in CRRL L028

Step1: preparation

1. Power on the Franka arm (power button on the black control box).
2. Turn on the middle computer: Advanced Options for Ubuntu -> Ubuntu, with Linux 5.9.1-rt20.

Step2: setup the Franka arm

1. On the middle computer, open the Franka control panel: https://192.168.123.250/desk/ In Firefox.
2. On the Franka control panel, click Activate FCI in the top-left menu.
3. On the Franka control panel, in the Joints panel, click the unlock button.

Step3: setup the communication network betweem the middle computer and another computer

1. On the middle computer, open the terminal and run the following command ifconfig to get the IP address of the middle computer. This typically starts with 192.168.XXX.XXX.
2. Run the following command on the middle computer to enable multicast support for the particular interface used for connecting to the local network.

sudo python3 ~/FR3Py/tools/multicast_config.py <interface_name> # e.g. enp3s0f0

3. On the another computer, run ifconfig again. Open the terminal and run the following command to connect to the middle computer.

sudo python3 FR3Py/tools/multicast_config.py <interface_name> # e.g. enp0s31f6

Step4: communicate with the robot

Run the C++ node to communicate with the robot:

fr3_joint_interface <robot_ip> <robot_name> <interface_type>

where robot_name is a unique name used to determine the name of the LCM topics used for the robot with IP robot_ip and interface_type determines how we want to command the robot. Currently, torque and velocity are supported. For example, fr3_joint_interface 192.168.123.250 fr3 torque.

Adding display to the docker container

Before running any GUI related app, we need to allow connection to Xserver on the host computer. For this run the following within the host terminal:

xhost +local:root