This C++ library provides low-level, real-time control for Franka Robotics research robots, enabling precise motion control for advanced applications. It is targeted at researchers and developers working with these specific robotic platforms.

How It Works

The library facilitates direct, real-time communication with Franka robots via their Franka Control Interface (FCI). This approach allows for fine-grained command execution and data retrieval, crucial for research scenarios requiring high precision and responsiveness.

Quick Start & Requirements

• Install: Build from source or install a Debian package.
• Prerequisites: Linux (Ubuntu 16.04+, PREEMPT_RT patched kernel recommended), GCC 7+, CMake 3.10+. For versions >= 0.14.0, robotpkg-pinocchio is required.
• Setup: Requires a Franka robot with FCI installed. Building from source involves cloning, checking out a tag, configuring with CMake, and compiling.
• Docs: API Documentation, FCI Documentation, Compatibility Matrix.

Highlighted Details

• Low-level control for precise motion.
• Real-time communication capabilities.
• Supports building Debian packages for easier management.

Maintenance & Community

The project is actively maintained by Franka Robotics. Community resources are not explicitly mentioned in the README.

Licensing & Compatibility

• License: Apache 2.0.
• Compatibility: Permissive license allows for commercial use and integration with closed-source projects.

Limitations & Caveats

The library is specifically designed for Franka Robotics hardware and requires a PREEMPT_RT patched Linux kernel for optimal real-time performance.