I'm in the process of building and testing the teleop system but I had a few questions because the instructions to run the factr is a bit unclear to me at this point.
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I see that you guys have used the franka robot however, there is no mention of either franka_ros2 or libfranka in the codebase. How do you guys run the franka related topics?
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What are the IP addresses that you are using for the factr_teleop_franka_zmq.py example? Are those the franka IP addresses? and what does the sim_desktop_ip_address represent?
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Should I publish the franka/joint_states ros topic through a ZMQPublisher at the respective ip address for the ZMQSubscriber(zmq_address["joint_state_sub"]) to receive the data? If yes, then what is the structure of the data that I'm supposed to send for the ZMQSubscriber(zmq_address["joint_state_sub"]) to process ?
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Also I see that you have used a custom made gripper. Will the factr system work for the default franka gripper?
Any guidance will be greatly appreciated.
I'm in the process of building and testing the teleop system but I had a few questions because the instructions to run the factr is a bit unclear to me at this point.
I see that you guys have used the franka robot however, there is no mention of either franka_ros2 or libfranka in the codebase. How do you guys run the franka related topics?
What are the IP addresses that you are using for the factr_teleop_franka_zmq.py example? Are those the franka IP addresses? and what does the sim_desktop_ip_address represent?
Should I publish the franka/joint_states ros topic through a ZMQPublisher at the respective ip address for the ZMQSubscriber(zmq_address["joint_state_sub"]) to receive the data? If yes, then what is the structure of the data that I'm supposed to send for the ZMQSubscriber(zmq_address["joint_state_sub"]) to process ?
Also I see that you have used a custom made gripper. Will the factr system work for the default franka gripper?
Any guidance will be greatly appreciated.