roboticsleeds / cobot_pump_ros Goto Github PK

Hello,
thanks for this promising repository!
We just bought the schmalz cobot pump, but we struggle to get a connection via Franka Panda and ROS 1 noetic.
Are there any steps we need to mention before we can use the pump via this repo? Anything we need to set up in the Franka Desk or somewhere else?

Controlling the panda via ros works well. We cloned this repository, changed the IP-Adress in the example.launch and did a catkin build. If we launch the example.launch and call the rosservice /startpump we just get an FCI Error. ERROR: service [/startPump] responded with an error: b'libfranka: Connection to FCI refused. Please install FCI feature or enable FCI mode in Desk. But FCI is running and works as it should by e.g. using move_to_start
Or do we need a special FCI-Version or something?

Thanks for your help!

Can not build. It shows the error message: Could not find a package configuration file provided by "Franka" (requested 0.8.0)

In the Cmakelist, there is:

find_package(Franka 0.9.0 QUIET)
if(NOT Franka_FOUND)
  find_package(Franka 0.8.0 REQUIRED)
endif()

I am wondering what is "Franka" package? Is this franka_ros?

My system currently runs libfranka 0.9.1, franka_ros 0.8.0, and software system 4.2.1. Could you please help? Thanks!