ROS Packages

CCF packages provide basic functionalities that can either be used by controllers or are already used by the CCF from the ground up. All packages are publicly available within our GitLab.

Example Applications

sample_applications

A collection of example applications for controlling the Franka Panda robot.

• Documentation

• Doxygen Source Documentation

panda_teaching

Allows to teach the Franka Emika Panda endeffector poses, and to replay them.

• Message and Service Documentation

• Doxygen Source Documentation

Simulation

panda_simulation

Required package for simulation of the Franka Panda robot in Gazebo.

• Doxygen Source Documentation

simulation_util

Additional libraries for simulation in Gazebo

• Doxygen Source Documentation

Planning & Motion

panda_grasping

A grasping libary for the Franka Panda Emika. Currently it allows to grasp rectangular shaped objects from above.

• Doxygen Source Documentation

planning_util

Provides utils to facilitate the planning and manipulation of trajectories.

• Doxygen Source Documentation