libfranka

https://docs.ros.org/en/humble/p/libfranka/
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libfranka is a C++ library that provides low-level control of Franka Robotics research robots with...
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### Example libfranka Installation

Source: https://docs.ros.org/en/humble/p/libfranka/index.html

Example of installing libfranka version 0.19.0 on Ubuntu 22.04 (Jammy).

```bash
wget https://github.com/frankarobotics/libfranka/releases/download/0.19.0/libfranka_0.19.0_jammy_amd64.deb
wget https://github.com/frankarobotics/libfranka/releases/download/0.19.0/libfranka_0.19.0_jammy_amd64.deb.sha256
sha256sum -c libfranka_0.19.0_jammy_amd64.deb.sha256
sudo dpkg -i libfranka_0.19.0_jammy_amd64.deb
```

--------------------------------

### Verify Installation

Source: https://docs.ros.org/en/humble/p/libfranka/index.html

Commands to verify the installation of the library, headers, and package version.

```bash
ls -l /usr/lib/libfranka.so

```

```bash
ls /usr/include/franka/

```

```bash
dpkg -l | grep libfranka

```

--------------------------------

### Install System Dependencies

Source: https://docs.ros.org/en/humble/p/libfranka/__README.html

Installs required system packages for building libfranka.

```bash
sudo apt-get update
sudo apt-get install -y \
    build-essential \
    cmake \
    git \
    wget \
    libeigen3-dev \
    libpoco-dev \
    libfmt-dev \
    pybind11-dev
```

--------------------------------

### Install Debian Package

Source: https://docs.ros.org/en/humble/p/libfranka/__README.html

Installs the generated Debian package on the host system.

```bash
cd build
sudo dpkg -i libfranka*.deb
```

--------------------------------

### Run Other Control Examples

Source: https://docs.ros.org/en/humble/p/libfranka/__README.html

Execute this command to run other available control examples. Replace <robot_ip> with your robot's IP address.

```bash
cd examples
python3 other_example.py --ip <robot_ip>
```

--------------------------------

### Run Joint Impedance Example

Source: https://docs.ros.org/en/humble/p/libfranka/__README.html

Execute this command to run the joint impedance control example. Replace <robot_ip> with your robot's IP address.

```bash
cd examples
python3 joint_impedance_example.py --ip <robot_ip>
```

--------------------------------

### Install Pylibfranka from PyPI

Source: https://docs.ros.org/en/humble/p/libfranka/__README.html

Install the pylibfranka Python package using pip. This is the recommended method as it includes pre-built wheels and dependencies.

```bash
pip install pylibfranka
```

--------------------------------

### Run Gripper Control Example

Source: https://docs.ros.org/en/humble/p/libfranka/__README.html

Execute this command to run the gripper control example. Replace <robot_ip> with your robot's IP address. Optional arguments control width, homing, speed, and force.

```bash
cd examples
python3 move_gripper.py --robot_ip <robot_ip> [--width <width>] [--homing <0|1>] [--speed <speed>] [--force <force>]
```

--------------------------------

### Install Pre-commit Hooks

Source: https://docs.ros.org/en/humble/p/libfranka/__README.html

Install and enable pre-commit hooks for automated code formatting and linting checks before each commit. Requires pip to be installed.

```bash
pip install pre-commit
pre-commit install
```

--------------------------------

### Run Print Robot State Example

Source: https://docs.ros.org/en/humble/p/libfranka/__README.html

Execute this command to run the robot state printing example. Optional arguments include --ip, --rate, and --count.

```bash
cd examples
python3 print_robot_state.py --ip <robot_ip> [--rate <rate>] [--count <count>]
```

--------------------------------

### Run Communication Test Example

Source: https://docs.ros.org/en/humble/p/libfranka/__README.html

Execute the communication test example program after building from source. Replace <robot-ip> with your robot's actual IP address.

```bash
cd build/examples
./communication_test <robot-ip>
```

--------------------------------

### Install libfranka Debian Package on Host

Source: https://docs.ros.org/en/humble/p/libfranka/index.html

Install the generated libfranka Debian package on the host system from the `build/` directory.

```shell
# On host system (outside container)
cd libfranka/build
sudo dpkg -i libfranka*.deb

```

--------------------------------

### Build Assimp

Source: https://docs.ros.org/en/humble/p/libfranka/__README.html

Compiles and installs Assimp from source.

```bash
git clone --depth 1 --recurse-submodules --shallow-submodules \
    --branch v5.4.3 https://github.com/assimp/assimp.git
cd assimp && mkdir build && cd build
cmake .. -DBoost_USE_STATIC_LIBS=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
    -DBUILD_SHARED_LIBS=OFF -DASSIMP_BUILD_TESTS=OFF \
    -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local
make -j$(nproc) && sudo make install
cd ../.. && rm -rf assimp
```

--------------------------------

### Run Joint Position Example

Source: https://docs.ros.org/en/humble/p/libfranka/__README.html

Execute this command to run the joint position control example. Replace <robot_ip> with your robot's IP address.

```bash
cd examples
python3 joint_position_example.py --ip <robot_ip>
```

--------------------------------

### Build urdfdom_headers

Source: https://docs.ros.org/en/humble/p/libfranka/__README.html

Compiles and installs urdfdom_headers.

```bash
git clone --depth 1 --branch 1.0.5 https://github.com/ros/urdfdom_headers.git
cd urdfdom_headers
mkdir build && cd build

cmake .. \
  -DCMAKE_BUILD_TYPE=Release \
  -DCMAKE_INSTALL_PREFIX=/usr/local

make -j$(nproc)
sudo make install

cd ../..
rm -rf urdfdom_headers
```

--------------------------------

### Build urdfdom_headers

Source: https://docs.ros.org/en/humble/p/libfranka/index.html

Compiles and installs urdfdom_headers from source.

```bash
git clone --depth 1 --branch 1.0.5 https://github.com/ros/urdfdom_headers.git
cd urdfdom_headers
mkdir build && cd build

cmake .. \
  -DCMAKE_BUILD_TYPE=Release \
  -DCMAKE_INSTALL_PREFIX=/usr/local

make -j$(nproc)
sudo make install

cd ../..
rm -rf urdfdom_headers

```

--------------------------------

### Build TinyXML2

Source: https://docs.ros.org/en/humble/p/libfranka/index.html

Compiles and installs TinyXML2 from source.

```bash
git clone --depth 1 --branch 10.0.0 https://github.com/leethomason/tinyxml2.git
cd tinyxml2
mkdir build && cd build

cmake .. \
  -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
  -DBUILD_SHARED_LIBS=OFF \
  -DCMAKE_BUILD_TYPE=Release \
  -DCMAKE_INSTALL_PREFIX=/usr/local

make -j$(nproc)
sudo make install

cd ../.. && rm -rf tinyxml2

```

--------------------------------

### Install Pylibfranka Prerequisites on Ubuntu/Debian

Source: https://docs.ros.org/en/humble/p/libfranka/__README.html

Install necessary development packages for building pylibfranka from source on Ubuntu/Debian systems. Includes build tools, CMake, Eigen, Poco, and Python development headers.

```bash
sudo apt-get update
sudo apt-get install -y build-essential cmake libeigen3-dev libpoco-dev python3-dev
```

--------------------------------

### Build Boost 1.77.0

Source: https://docs.ros.org/en/humble/p/libfranka/__README.html

Compiles and installs Boost 1.77.0 from source.

```bash
git clone --depth 1 --recurse-submodules --shallow-submodules \
    --branch boost-1.77.0 https://github.com/boostorg/boost.git
cd boost
./bootstrap.sh --prefix=/usr/local
sudo ./b2 install -j$(nproc)
cd .. && rm -rf boost
```

--------------------------------

### Install Pylibfranka from Source using Pip

Source: https://docs.ros.org/en/humble/p/libfranka/__README.html

Install pylibfranka from its source directory using pip. This method is used after cloning the repository or when building from local source files.

```bash
pip install .
```

--------------------------------

### Control Initialization Methods

Source: https://docs.ros.org/en/humble/p/libfranka/_sources/generated/program_listing_file_include_franka_robot.h.rst.txt

Methods to start various robot control modes.

```APIDOC
## startTorqueControl

### Description
Initializes torque control mode.

## startJointPositionControl

### Description
Initializes joint position control mode.

### Parameters
- **control_type** (research_interface::robot::Move::ControllerMode) - Required

## startCartesianPoseControl

### Description
Initializes Cartesian pose control mode.

### Parameters
- **control_type** (research_interface::robot::Move::ControllerMode) - Required
```

--------------------------------

### Build TinyXML2

Source: https://docs.ros.org/en/humble/p/libfranka/__README.html

Compiles and installs TinyXML2 with static linking.

```bash
git clone --depth 1 --branch 10.0.0 https://github.com/leethomason/tinyxml2.git
cd tinyxml2
mkdir build && cd build

cmake .. \
  -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
  -DBUILD_SHARED_LIBS=OFF \
  -DCMAKE_BUILD_TYPE=Release \
  -DCMAKE_INSTALL_PREFIX=/usr/local

make -j$(nproc)
sudo make install

cd ../.. && rm -rf tinyxml2
```

--------------------------------

### Install libfranka via Debian Package

Source: https://docs.ros.org/en/humble/p/libfranka/__README.html

Commands to download, verify, and install a specific version of libfranka using Debian packages.

```bash
# Download package
wget https://github.com/frankarobotics/libfranka/releases/download/<libfranka_version>/libfranka_<libfranka_version>_<ubuntu_codename>_amd64.deb

# Download checksum
wget https://github.com/frankarobotics/libfranka/releases/download/<libfranka_version>/libfranka_<libfranka_version>_<ubuntu_codename>_amd64.deb.sha256

# Verify package integrity
sha256sum -c libfranka_<libfranka_version>_<ubuntu_codename>_amd64.deb.sha256

# Install package
sudo dpkg -i libfranka_<libfranka_version>_<ubuntu_codename>_amd64.deb
```

```bash
wget https://github.com/frankarobotics/libfranka/releases/download/0.19.0/libfranka_0.19.0_jammy_amd64.deb
wget https://github.com/frankarobotics/libfranka/releases/download/0.19.0/libfranka_0.19.0_jammy_amd64.deb.sha256
sha256sum -c libfranka_0.19.0_jammy_amd64.deb.sha256
sudo dpkg -i libfranka_0.19.0_jammy_amd64.deb
```

--------------------------------

### POST /startTorqueControl

Source: https://docs.ros.org/en/humble/p/libfranka/generated/classfranka_1_1Robot.html

Starts a new torque controller for the robot.

```APIDOC
## POST /startTorqueControl

### Description
Starts a new torque controller.

### Method
POST

### Endpoint
/startTorqueControl

### Response
#### Success Response (200)
- **ActiveTorqueControl** (unique_ptr) - Returns a unique_ptr of ActiveTorqueControl for the started motion.
```

--------------------------------

### Install System Packages for libfranka Build

Source: https://docs.ros.org/en/humble/p/libfranka/index.html

Install essential system packages required for building libfranka, including build tools, CMake, Git, and development libraries for Eigen, Poco, fmt, and pybind11.

```shell
sudo apt-get update
sudo apt-get install -y \
    build-essential \
    cmake \
    git \
    wget \
    libeigen3-dev \
    libpoco-dev \
    libfmt-dev \
    pybind11-dev

```

--------------------------------

### Build Pinocchio

Source: https://docs.ros.org/en/humble/p/libfranka/__README.html

Compiles and installs Pinocchio with a required patch.

```bash
wget https://raw.githubusercontent.com/frankarobotics/libfranka/main/.ci/pinocchio.patch
git clone --depth 1 --recurse-submodules --shallow-submodules \
    --branch v3.4.0 https://github.com/stack-of-tasks/pinocchio.git
cd pinocchio && git apply ../pinocchio.patch
mkdir build && cd build
cmake .. -DBoost_USE_STATIC_LIBS=ON -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
    -DBUILD_SHARED_LIBS=OFF -DBUILD_PYTHON_INTERFACE=OFF \
    -DBUILD_DOCUMENTATION=OFF -DBUILD_TESTING=OFF \
    -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local
make -j$(nproc) && sudo make install
cd ../.. && rm -rf pinocchio
```

--------------------------------

### Install libfranka Debian Package from Docker Build

Source: https://docs.ros.org/en/humble/p/libfranka/index.html

Install the libfranka Debian package on the host system after building it within a Docker container. Navigate to the `build` directory first.

```shell
cd build
sudo dpkg -i libfranka*.deb

```

--------------------------------

### Build console_bridge

Source: https://docs.ros.org/en/humble/p/libfranka/__README.html

Compiles and installs console_bridge from source.

```bash
git clone --depth 1 --branch 1.0.2 https://github.com/ros/console_bridge.git
cd console_bridge
mkdir build && cd build

cmake .. \
  -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
  -DBUILD_SHARED_LIBS=OFF \
  -DCMAKE_BUILD_TYPE=Release \
  -DCMAKE_INSTALL_PREFIX=/usr/local

make -j$(nproc)
sudo make install

cd ../..
rm -rf console_bridge
```

--------------------------------

### Build Boost 1.77.0

Source: https://docs.ros.org/en/humble/p/libfranka/index.html

Compiles and installs Boost 1.77.0 from source with static linking.

```bash
git clone --depth 1 --recurse-submodules --shallow-submodules \
    --branch boost-1.77.0 https://github.com/boostorg/boost.git
cd boost
./bootstrap.sh --prefix=/usr/local
sudo ./b2 install -j$(nproc)
cd .. && rm -rf boost

```

--------------------------------

### Run Communication Test

Source: https://docs.ros.org/en/humble/p/libfranka/index.html

Executes the communication test example program.

```bash
cd build/examples
./communication_test <robot-ip>

```

--------------------------------

### Create Debian Package

Source: https://docs.ros.org/en/humble/p/libfranka/index.html

Generates and installs a Debian package from the build directory.

```bash
cpack -G DEB
sudo dpkg -i libfranka*.deb

```

--------------------------------

### Build urdfdom

Source: https://docs.ros.org/en/humble/p/libfranka/__README.html

Compiles and installs urdfdom with a required patch.

```bash
wget https://raw.githubusercontent.com/frankarobotics/libfranka/main/.ci/urdfdom.patch

git clone --depth 1 --branch 4.0.0 https://github.com/ros/urdfdom.git
cd urdfdom

git apply ../urdfdom.patch

mkdir build && cd build
cmake .. \
  -DCMAKE_POSITION_INDEPENDENT_CODE=ON \
  -DBUILD_SHARED_LIBS=OFF \
  -DCMAKE_BUILD_TYPE=Release \
  -DCMAKE_INSTALL_PREFIX=/usr/local

make -j$(nproc)
sudo make install
cd ../..
rm -rf urdfdom
```

--------------------------------

### Verify libfranka Header Files

Source: https://docs.ros.org/en/humble/p/libfranka/__README.html

List the header files installed in the /usr/include/franka/ directory. This ensures that the necessary C++ interface files are available for development.

```bash
ls /usr/include/franka/
```

--------------------------------

### POST /startJointPositionControl

Source: https://docs.ros.org/en/humble/p/libfranka/generated/classfranka_1_1Robot.html

Starts a new joint position motion generator.

```APIDOC
## POST /startJointPositionControl

### Description
Starts a new joint position motion generator.

### Method
POST

### Endpoint
/startJointPositionControl

### Parameters
#### Request Body
- **control_type** (research_interface::robot::Move::ControllerMode) - Required - Control type for the operation.

### Response
#### Success Response (200)
- **ActiveMotionGenerator** (unique_ptr) - Returns a unique_ptr of ActiveMotionGenerator for the started motion.
```

--------------------------------

### franka::Gripper::readOnce

Source: https://docs.ros.org/en/humble/p/libfranka/genindex.html

Details on how to use the `readOnce` method to get the current gripper state.

```APIDOC
## GET /franka/gripper/state

### Description
Reads the current state of the robot gripper, including its position, presence of objects, and temperature.

### Method
GET

### Endpoint
/franka/gripper/state

### Parameters
None.

### Response
#### Success Response (200)
- **width** (double) - The current width of the gripper in meters.
- **max_width** (double) - The maximum possible width of the gripper in meters.
- **is_moving** (boolean) - True if the gripper is currently moving, false otherwise.
- **object_present** (boolean) - True if an object is detected by the gripper, false otherwise.
- **temperature** (double) - The current temperature of the gripper.

#### Response Example
```json
{
  "width": 0.075,
  "max_width": 0.08,
  "is_moving": false,
  "object_present": true,
  "temperature": 35.5
}
```
```

--------------------------------

### POST /startAsyncJointPositionControl

Source: https://docs.ros.org/en/humble/p/libfranka/generated/classfranka_1_1Robot.html

Starts a new async joint position motion generator.

```APIDOC
## POST /startAsyncJointPositionControl

### Description
Starts a new async joint position motion generator.

### Method
POST

### Endpoint
/startAsyncJointPositionControl

### Parameters
#### Request Body
- **control_type** (research_interface::robot::Move::ControllerMode) - Required - Control type for the operation.
- **maximum_velocities** (std::optional<std::vector<double>>) - Optional - Maximum joint velocities for the motion generator.

### Response
#### Success Response (200)
- **ActiveMotionGenerator** (unique_ptr) - Returns a unique_ptr of ActiveMotionGenerator for the started motion.
```

--------------------------------

### Build libfranka with Custom CMake Options

Source: https://docs.ros.org/en/humble/p/libfranka/__README.html

Example of configuring the libfranka build using CMake with specific options like build type, enabling tests, and generating Python bindings.

```bash
cmake -DCMAKE_BUILD_TYPE=Debug \
      -DBUILD_TESTS=ON \
      -DGENERATE_PYLIBFRANKA=ON \
      ..
```

--------------------------------

### POST /startJointVelocityControl

Source: https://docs.ros.org/en/humble/p/libfranka/generated/classfranka_1_1Robot.html

Starts a new joint velocity motion generator.

```APIDOC
## POST /startJointVelocityControl

### Description
Starts a new joint velocity motion generator.

### Method
POST

### Endpoint
/startJointVelocityControl

### Parameters
#### Request Body
- **control_type** (research_interface::robot::Move::ControllerMode) - Required - Control type for the operation.

### Response
#### Success Response (200)
- **ActiveMotionGenerator** (unique_ptr) - Returns a unique_ptr of ActiveMotionGenerator for the started motion.
```

--------------------------------

### POST /startCartesianPoseControl

Source: https://docs.ros.org/en/humble/p/libfranka/generated/classfranka_1_1Robot.html

Starts a new cartesian position motion generator.

```APIDOC
## POST /startCartesianPoseControl

### Description
Starts a new cartesian position motion generator.

### Method
POST

### Endpoint
/startCartesianPoseControl

### Parameters
#### Request Body
- **control_type** (research_interface::robot::Move::ControllerMode) - Required - Control type for the operation.

### Response
#### Success Response (200)
- **ActiveMotionGenerator** (unique_ptr) - Returns a unique_ptr of ActiveMotionGenerator for the started motion.
```

--------------------------------

### Build Pylibfranka with CMake

Source: https://docs.ros.org/en/humble/p/libfranka/__README.html

Configure the build process to generate Python bindings for libfranka. This is part of the manual installation process for Pylibfranka.

```bash
cd libfranka/build
cmake -DGENERATE_PYLIBFRANKA=ON ..
cmake --build . -- -j$(nproc)
sudo cmake --install .
```

--------------------------------

### Install libfranka Debian Package

Source: https://docs.ros.org/en/humble/p/libfranka/index.html

Installs libfranka using a pre-built Debian package. Replace placeholders with your desired version and Ubuntu codename.

```bash
wget https://github.com/frankarobotics/libfranka/releases/download/<libfranka_version>/libfranka_<libfranka_version>_<ubuntu_codename>_amd64.deb

wget https://github.com/frankarobotics/libfranka/releases/download/<libfranka_version>/libfranka_<libfranka_version>_<ubuntu_codename>_amd64.deb.sha256

sha256sum -c libfranka_<libfranka_version>_<ubuntu_codename>_amd64.deb.sha256

sudo dpkg -i libfranka_<libfranka_version>_<ubuntu_codename>_amd64.deb
```

--------------------------------

### Remove Existing libfranka Installations

Source: https://docs.ros.org/en/humble/p/libfranka/index.html

Remove any previously installed libfranka packages from the system using apt-get. This command will remove all packages with names containing 'libfranka'.

```shell
sudo apt-get remove -y "*libfranka*"

```

--------------------------------

### Check Installed libfranka Package Version

Source: https://docs.ros.org/en/humble/p/libfranka/__README.html

Verify the installed version of the libfranka Debian package. This command filters the package list to show only libfranka details.

```bash
dpkg -l | grep libfranka
```

--------------------------------

### Run Docker Container and Build libfranka

Source: https://docs.ros.org/en/humble/p/libfranka/index.html

Run the Docker container, mount the current directory, set the working directory, and then build libfranka inside the container. Includes creating the Debian package.

```shell
docker run --rm -it -v $(pwd):/workspaces -w /workspaces libfranka-build:20.04

# Inside container:
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
cmake --build . -- -j$(nproc)
cpack -G DEB
exit

```

--------------------------------

### Build libfranka and Create Package

Source: https://docs.ros.org/en/humble/p/libfranka/__README.html

Commands to build the library from source and generate a Debian package within the container.

```bash
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
cmake --build . -- -j$(nproc)
```

```bash
cd build
cpack -G DEB
```

```bash
# On host system (outside container)
cd libfranka/build
sudo dpkg -i libfranka*.deb
```

--------------------------------

### Build Docker Image

Source: https://docs.ros.org/en/humble/p/libfranka/__README.html

Builds a Docker image for libfranka using a specific Ubuntu version.

```bash
docker build --build-arg UBUNTU_VERSION=24.04 -t libfranka-build:24.04 .ci/
```

--------------------------------

### franka::Gripper::serverVersion

Source: https://docs.ros.org/en/humble/p/libfranka/genindex.html

Details on how to use the `serverVersion` method to retrieve the gripper's server version.

```APIDOC
## GET /franka/gripper/server_version

### Description
Retrieves the version of the gripper's server software.

### Method
GET

### Endpoint
/franka/gripper/server_version

### Parameters
None.

### Response
#### Success Response (200)
- **server_version** (string) - The version string of the gripper server.

#### Response Example
```json
{
  "server_version": "1.2.3"
}
```
```

--------------------------------

### Remove Existing Installations

Source: https://docs.ros.org/en/humble/p/libfranka/__README.html

Removes any existing libfranka packages from the system.

```bash
sudo apt-get remove -y "*libfranka*"
```

--------------------------------

### POST /startCartesianVelocityControl

Source: https://docs.ros.org/en/humble/p/libfranka/generated/classfranka_1_1Robot.html

Starts a new cartesian velocity motion generator.

```APIDOC
## POST /startCartesianVelocityControl

### Description
Starts a new cartesian velocity motion generator.

### Method
POST

### Endpoint
/startCartesianVelocityControl

### Parameters
#### Request Body
- **control_type** (research_interface::robot::Move::ControllerMode) - Required - Control type for the operation.

### Response
#### Success Response (200)
- **ActiveMotionGenerator** (unique_ptr) - Returns a unique_ptr of ActiveMotionGenerator for the started motion.
```

--------------------------------

### Build Docker Image

Source: https://docs.ros.org/en/humble/p/libfranka/__README.html

Commands to build the Docker image for specific Ubuntu versions.

```bash
# For Ubuntu 20.04
docker build --build-arg UBUNTU_VERSION=20.04 -t libfranka-build:20.04 .ci/

# For Ubuntu 22.04
docker build --build-arg UBUNTU_VERSION=22.04 -t libfranka-build:22.04 .ci/
```

--------------------------------

### Configure Ubuntu Version for Dev Container

Source: https://docs.ros.org/en/humble/p/libfranka/__README.html

Specify the Ubuntu version in the devcontainer_distro file.

```text
22.04  # Ubuntu 22.04 (default)
```

--------------------------------

### GET /robotModel

Source: https://docs.ros.org/en/humble/p/libfranka/generated/classfranka_1_1Robot.html

Retrieves the URDF model of the attached robot arm.

```APIDOC
## GET /robotModel

### Description
Provides the URDF model of the attached robot arm as a JSON string.

### Method
GET

### Response
#### Success Response (200)
- **string** - The URDF model in JSON format.

### Errors
- **CommandException**: Control reports an error.
- **NetworkException**: Connection lost.
```

--------------------------------

### Get Duration in Milliseconds

Source: https://docs.ros.org/en/humble/p/libfranka/generated/classfranka_1_1Duration.html

Retrieves the stored duration converted to milliseconds.

```APIDOC
## GET /duration/msec

### Description
Returns the stored duration in milliseconds.

### Method
GET

### Endpoint
/duration/msec

### Response
#### Success Response (200)
- **milliseconds** (uint64_t) - The duration in milliseconds.

#### Response Example
{
  "milliseconds": 123456789
}
```

--------------------------------

### Get Duration in Seconds

Source: https://docs.ros.org/en/humble/p/libfranka/generated/classfranka_1_1Duration.html

Retrieves the stored duration converted to seconds.

```APIDOC
## GET /duration/sec

### Description
Returns the stored duration in seconds.

### Method
GET

### Endpoint
/duration/sec

### Response
#### Success Response (200)
- **seconds** (double) - The duration in seconds.

#### Response Example
{
  "seconds": 123.456789
}
```

--------------------------------

### Clone libfranka Repository

Source: https://docs.ros.org/en/humble/p/libfranka/__README.html

Initial steps to clone the repository and checkout a specific version.

```bash
git clone --recurse-submodules https://github.com/frankarobotics/libfranka.git
cd libfranka
git checkout 0.19.0  # or your desired version
```

--------------------------------

### Build libfranka

Source: https://docs.ros.org/en/humble/p/libfranka/index.html

Clones and builds the libfranka library from source.

```bash
git clone --recurse-submodules https://github.com/frankarobotics/libfranka.git
cd libfranka
git checkout 0.19.0
git submodule update --init --recursive

mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release \
      -DCMAKE_INSTALL_PREFIX=/usr/local ..
cmake --build . -- -j$(nproc)

```

--------------------------------

### franka::Gripper::move

Source: https://docs.ros.org/en/humble/p/libfranka/genindex.html

Details on how to use the `move` method to command the gripper to a specific position.

```APIDOC
## POST /franka/gripper/move

### Description
Moves the robot gripper to a specified width. This command can include parameters for speed and force.

### Method
POST

### Endpoint
/franka/gripper/move

### Parameters
#### Request Body
- **width** (double) - Required - The target width for the gripper in meters.
- **speed** (double) - Optional - The speed at which to move the gripper (default may apply).
- **force** (double) - Optional - The force to apply during the move (default may apply).

### Request Example
```json
{
  "width": 0.08,
  "speed": 0.1,
  "force": 30
}
```

### Response
#### Success Response (200)
- **success** (boolean) - Indicates if the move command was accepted.

#### Response Example
```json
{
  "success": true
}
```
```

--------------------------------

### POST /setGuidingMode

Source: https://docs.ros.org/en/humble/p/libfranka/generated/classfranka_1_1Robot.html

Locks or unlocks guiding mode movement for specific axes.

```APIDOC
## POST /setGuidingMode

### Description
Locks or unlocks guiding mode movement in (x, y, z, roll, pitch, yaw). If a flag is set to true, movement is unlocked.

### Method
POST

### Endpoint
/setGuidingMode

### Parameters
#### Request Body
- **guiding_mode** (array<bool, 6>) - Required - Unlocked movement in (x, y, z, R, P, Y) in guiding mode.
- **elbow** (bool) - Required - True if the elbow is free in guiding mode, false otherwise.
```

--------------------------------

### Build libfranka

Source: https://docs.ros.org/en/humble/p/libfranka/__README.html

Compiles libfranka from source.

```bash
git clone --recurse-submodules https://github.com/frankarobotics/libfranka.git
cd libfranka
git checkout 0.19.0
git submodule update --init --recursive

mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release \
      -DCMAKE_INSTALL_PREFIX=/usr/local ..
cmake --build . -- -j$(nproc)
```

--------------------------------

### franka::Robot Class Overview

Source: https://docs.ros.org/en/humble/p/libfranka/genindex.html

Provides an overview of the franka::Robot class, including its constructor, destructor, and key member functions for robot control and state retrieval.

```APIDOC
## franka::Robot Class

### Description
The `franka::Robot` class is the primary interface for controlling and interacting with a Franka Emika robot.

### Methods
- **franka::Robot()**: Constructor for the Robot class.
- **~franka::Robot()**: Destructor for the Robot class.
- **automaticErrorRecovery()**: Initiates automatic error recovery.
- **control(const RobotCommand& command)**: Executes a robot command.
- **getLowerJointVelocityLimits()**: Retrieves the lower joint velocity limits.
- **getRobotModel()**: Retrieves the robot model.
- **getUpperJointVelocityLimits()**: Retrieves the upper joint velocity limits.
- **isMobileRobot()**: Checks if the robot is a mobile robot.
- **loadModel()**: Loads the robot model.
- **operator=()**: Assignment operator.
- **read()**: Reads the current robot state.
- **readOnce()**: Reads the robot state once.
- **serverVersion()**: Gets the server version.
- **setCartesianImpedance(const franka::CartesianImpedance& impedance)**: Sets the Cartesian impedance.
- **setCollisionBehavior(const franka::CollisionBehavior& behavior)**: Sets the collision behavior.
- **setEE(const franka::Frame& F_T_EE)**: Sets the end-effector frame.
- **setGuidingMode(franka::GuidingMode mode, double velocity)**: Sets the guiding mode.
- **setJointImpedance(const franka::JointImpedance& impedance)**: Sets the joint impedance.
- **setK(const franka::Torque& torque)**: Sets the torque.
- **setLoad(const franka::Load& load)**: Sets the load.
- **startAsyncJointPositionControl(const std::vector<double>& positions)**: Starts asynchronous joint position control.
- **startCartesianPoseControl(const franka::SE3Pose& pose)**: Starts Cartesian pose control.
- **startCartesianVelocityControl(const franka::CartesianVelocities& velocities)**: Starts Cartesian velocity control.
- **startJointPositionControl(const std::vector<double>& positions)**: Starts joint position control.
- **startJointVelocityControl(const std::vector<double>& velocities)**: Starts joint velocity control.
- **startTorqueControl(const std::vector<double>& torques)**: Starts torque control.
- **stop()**: Stops the robot.

### Members
- **kNumJoints**: Constant representing the number of joints.
```

--------------------------------

### Struct franka::AsyncPositionControlHandler::Configuration

Source: https://docs.ros.org/en/humble/p/libfranka/_sources/generated/structfranka_1_1AsyncPositionControlHandler_1_1Configuration.rst.txt

Technical documentation for the configuration structure used in asynchronous position control.

```APIDOC
## Struct franka::AsyncPositionControlHandler::Configuration

### Description
This struct defines the configuration parameters for the `AsyncPositionControlHandler` class, which is used for managing asynchronous position control in libfranka.

### Defined In
`include/franka/async_control/async_position_control_handler.hpp`

### Nested Relationship
This struct is a nested type of `franka::AsyncPositionControlHandler`.
```

--------------------------------

### POST /control

Source: https://docs.ros.org/en/humble/p/libfranka/generated/classfranka_1_1Robot.html

Starts a control loop for a Cartesian velocity motion generator with a specified controller mode.

```APIDOC
## POST /control

### Description
Starts a control loop for a Cartesian velocity motion generator. Sets realtime priority for the current thread and cannot be executed while another control loop is active.

### Method
POST

### Parameters
#### Request Body
- **motion_generator_callback** (function) - Required - Callback function for motion generation.
- **controller_mode** (enum) - Optional - Controller to use (default: kJointImpedance).
- **limit_rate** (boolean) - Optional - True if rate limiting should be activated (default: false).
- **cutoff_frequency** (double) - Optional - Cutoff frequency for low-pass filter.

### Response
#### Success Response (200)
- **void** - Returns nothing upon successful execution.

### Errors
- **ControlException**: Error related to motion generation.
- **InvalidOperationException**: Conflicting operation already running.
- **NetworkException**: Connection lost.
- **RealtimeException**: Realtime priority cannot be set.
- **std::invalid_argument**: Command elements are NaN or infinity.
```

--------------------------------

### void control(control_callback, ...)

Source: https://docs.ros.org/en/humble/p/libfranka/generated/classfranka_1_1Robot.html

Starts a control loop for sending joint-level torque commands to the robot.

```APIDOC
## void control(std::function<Torques(const RobotState&, franka::Duration)> control_callback, bool limit_rate, double cutoff_frequency)

### Description
Starts a control loop for sending joint-level torque commands. Sets realtime priority for the current thread. Cannot be executed while another control or motion generator loop is active.

### Parameters
- **control_callback** (std::function) - Required - Callback function providing joint-level torque commands.
- **limit_rate** (bool) - Optional - True if rate limiting should be activated. False by default.
- **cutoff_frequency** (double) - Optional - Cutoff frequency for a first order low-pass filter applied on the user commanded signal.

### Throws
- **ControlException** - If an error related to torque control or motion generation occurred.
- **InvalidOperationException** - If a conflicting operation is already running.
- **NetworkException** - If the connection is lost.
- **RealtimeException** - If realtime priority cannot be set for the current thread.
- **std::invalid_argument** - If joint-level torque commands are NaN or infinity.
```

--------------------------------

### AsyncPositionControlHandler Class Documentation

Source: https://docs.ros.org/en/humble/p/libfranka/_sources/generated/classfranka_1_1AsyncPositionControlHandler.rst.txt

This section provides documentation for the franka::AsyncPositionControlHandler class, outlining its members and functionalities.

```APIDOC
## Class AsyncPositionControlHandler

### Description
Represents an asynchronous position control handler within the franka library.

### Defined In
`include/franka_async_control/async_position_control_handler.hpp`

### Nested Types
- `franka::AsyncPositionControlHandler::CommandResult`
- `franka::AsyncPositionControlHandler::Configuration`
- `franka::AsyncPositionControlHandler::ConfigurationResult`
- `franka::AsyncPositionControlHandler::JointPositionTarget`
- `franka::AsyncPositionControlHandler::TargetFeedback`

### Members
(Details of protected and undocumented members are available in the full Doxygen documentation.)
```

--------------------------------

### Franka Robot Motion Control

Source: https://docs.ros.org/en/humble/p/libfranka/generated/program_listing_file_include_franka_robot.h.html

Methods for starting and stopping various robot motion control modes.

```APIDOC
## ROBOT MOTION CONTROL

### `automaticErrorRecovery`

Initiates automatic error recovery for the robot.

### `startTorqueControl`

Starts torque control mode.

- **Returns**: `std::unique_ptr<ActiveControlBase>` - Pointer to the active torque control object.

### `startJointPositionControl`

Starts joint position control mode.

- **control_type** (research_interface::robot::Move::ControllerMode) - The type of controller mode.
- **Returns**: `std::unique_ptr<ActiveControlBase>` - Pointer to the active joint position control object.

### `startAsyncJointPositionControl`

Starts asynchronous joint position control mode.

- **control_type** (research_interface::robot::Move::ControllerMode) - The type of controller mode.
- **maximum_velocities** (std::optional<std::vector<double>>) - Optional maximum velocities for each joint.
- **Returns**: `std::unique_ptr<ActiveControlBase>` - Pointer to the active asynchronous joint position control object.

### `startJointVelocityControl`

Starts joint velocity control mode.

- **control_type** (research_interface::robot::Move::ControllerMode) - The type of controller mode.
- **Returns**: `std::unique_ptr<ActiveControlBase>` - Pointer to the active joint velocity control object.

### `startCartesianPoseControl`

Starts Cartesian pose control mode.

- **control_type** (research_interface::robot::Move::ControllerMode) - The type of controller mode.
- **Returns**: `std::unique_ptr<ActiveControlBase>` - Pointer to the active Cartesian pose control object.

### `startCartesianVelocityControl`

Starts Cartesian velocity control mode.

- **control_type** (research_interface::robot::Move::ControllerMode) - The type of controller mode.
- **Returns**: `std::unique_ptr<ActiveControlBase>` - Pointer to the active Cartesian velocity control object.

### `stop`

Stops all active robot motion control.

### `isMobileRobot`

Checks if the robot is a mobile robot.

- **Returns**: `bool` - True if the robot is mobile, false otherwise.

### `loadModel`

Loads the robot model.

- **Returns**: `Model` - The loaded robot model.

### `loadModel` (for unittests)

Loads the robot model library for unittests mockRobotModel.

- **robot_model** (std::unique_ptr<RobotModelBase>) - The robot model to load.
- **Returns**: `Model` - The loaded robot model.

### `serverVersion`

Retrieves the server version.

- **Returns**: `ServerVersion` - The server version information.
```

--------------------------------

### Get Duration as std::chrono::duration

Source: https://docs.ros.org/en/humble/p/libfranka/generated/classfranka_1_1Duration.html

Retrieves the stored duration in its native std::chrono::duration format.

```APIDOC
## GET /duration

### Description
Returns the stored duration as an std::chrono::duration.

### Method
GET

### Endpoint
/duration

### Response
#### Success Response (200)
- **duration** (std::chrono::duration) - The stored duration.

#### Response Example
{
  "duration": "123456789ns"
}
```

--------------------------------

### Robot Connection and Lifecycle

Source: https://docs.ros.org/en/humble/p/libfranka/generated/classfranka_1_1Robot.html

Methods for establishing a connection to the robot, managing the instance lifecycle, and retrieving server information.

```APIDOC
## Constructor: Robot

### Description
Establishes a connection with the robot.

### Parameters
#### Request Body
- **franka_address** (string) - Required - IP/hostname of the robot.
- **realtime_config** (RealtimeConfig) - Optional - If set to Enforce, an exception will be thrown if realtime priority cannot be set.
- **log_size** (size_t) - Optional - Sets how many last states should be kept for logging purposes.

### Throws
- NetworkException: if the connection is unsuccessful.
- IncompatibleVersionException: if this version of libfranka is not supported.

## Method: serverVersion

### Description
Returns the software version reported by the connected server.

### Response
- **ServerVersion** (uint16_t) - Software version of the connected server.
```

--------------------------------

### Franka Model Library Overview

Source: https://docs.ros.org/en/humble/p/libfranka/_sources/generated/file_include_franka_model.h.rst.txt

Overview of the model.h header file which provides access to robot model dynamics and kinematics.

```APIDOC
## Model Library (model.h)

### Description
The model.h file contains the core library types for calculating robot dynamics and kinematics. It provides the interface for interacting with the robot model.

### Namespace
- franka

### Classes
- franka::Model

### Enums
- Frame (defined in model.h)

### Functions
- getModel (or related model-specific functions defined in the namespace)
```

--------------------------------

### Verify libfranka Library File

Source: https://docs.ros.org/en/humble/p/libfranka/__README.html

Check if the libfranka shared library file is correctly installed in the /usr/lib directory. This confirms the presence of the main library.

```bash
ls -l /usr/lib/libfranka.so
```
Tokens:
Raw