libfranka-rs 0.8.0-alpha-1

Library to control Franka Emika robots
![GitHub Workflow Status](
# libfranka-rs
libfranka-rs is an **unofficial** port of [libfranka]( written in Rust.
This library can interact with research versions of Franka Emika Robots.
The library aims to provide researchers the possibility to experiment with Rust within a real-time robotics

## Features
 * Real-time control of the robot
 * A libfranka-like API
 * Usage with Preempt_RT or stock Linux kernel
 * Usage of the gripper
 * Usage of the robot model
 * Download the robot model for offline usage
 * Ports of the libfranka examples to help you to get started
 * The functionality of the [example_commons]( is directly part of the library, so you do not have to copy these files to your project
 * Direct Conversions from [nalgebra]( (Eigen3 equivalent) types into libfranka control types (JointPositions, CartesianPose, ...)
 * Proper error handling with Result types
 * Usage of the Model for anything else but Linux x86_64
Not supported:
 * Windows (macOS could maybe work, but I have not tested it)
 * Vacuum Grippers (we do not have those, so I cannot test them)

## Example
A small example for controlling joint positions. You can find more in the examples folder.
use franka::{FrankaResult, JointPositions, MotionFinished, Robot, RobotState};
use std::f64::consts::PI;
use std::time::Duration;
fn main() -> FrankaResult<()> {
    let mut robot = Robot::new("", None, None)?;
    println!("WARNING: This example will move the robot! Please make sure to have the user stop button at hand!");
    println!("Press Enter to continue...");
    std::io::stdin().read_line(&mut String::new()).unwrap();

    // Set additional parameters always before the control loop, NEVER in the control loop!
    // Set collision behavior.
        [20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0],
        [20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0],
        [20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0],
        [20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0],
        [20.0, 20.0, 20.0, 25.0, 25.0, 25.0],
        [20.0, 20.0, 20.0, 25.0, 25.0, 25.0],
        [20.0, 20.0, 20.0, 25.0, 25.0, 25.0],
        [20.0, 20.0, 20.0, 25.0, 25.0, 25.0],

    let q_goal = [0., -PI / 4., 0., -3. * PI / 4., 0., PI / 2., PI / 4.];
    robot.joint_motion(0.5, &q_goal)?;
    println!("Finished moving to initial joint configuration.");
    let mut initial_position = JointPositions::new([0.0, 1.0, 2.0, 3.0, 4.0, 5.0, 6.0]);
    let mut time = 0.;
    let callback = |state: &RobotState, time_step: &Duration| -> JointPositions {
        time += time_step.as_secs_f64();
        if time == 0. {
            initial_position.q = state.q_d;
        let mut out = JointPositions::new(initial_position.q);
        let delta_angle = PI / 8. * (1. - f64::cos(PI / 2.5 * time));
        out.q[3] += delta_angle;
        out.q[4] += delta_angle;
        out.q[6] += delta_angle;
        if time >= 5.0 {
            println!("Finished motion, shutting down example");
            return out.motion_finished();
    robot.control_joint_positions(callback, None, None, None)

## How to get started
As it is a straight port, you may find the
[Franka Control Interface Documentation]( helpful.

### With zero Rust knowledge
If this is your first time using Rust, I recommend reading the [Rust Book](

If you have Rust installed and just want to play with the examples, you can also run:
cargo install libfranka-rs --examples
generate_joint_position_motion <ip_of_your_robot>

If you are already familiar with the original libfranka examples. I suggest you take a look at the examples folder.
The examples that are named like an original libfranka example are ports that stay as close to the original as possible,
hoping that it makes your introduction into the Rust world as smooth as possible.

### With zero libfranka knowledge
The [Franka Control Interface Documentation]( also includes a setup guide.
You can skip the installation of libfranka as you will be using libfranka-rs.
Take a look at the [Documentation]( and the examples folder. You should run the
communication_test example to verify that your setup is correct.

### How to use libfranka-rs
If you want to use libfranka-rs in your project, you have to add
libfranka-rs = 0.8
to your Cargo.toml file.
libfranka-rs version numbers are structured as MAJOR.MINOR.PATCH. The Major and Minor versions match the original libfranka
version numbers. That means for 0.8, your robot has to be at least on Firmware 4.0.0. Older firmware versions are not supported by
libfranka-rs. You can find more information about system updates [here](

## Bugs and Merge Requests
This work is part of my master thesis. You can open issues as you like. However, please refrain from opening merge requests
until my master thesis is over (5th of July 2021).

## Licence
This library is copyrighted © 2021 Marco Boneberger

Licensed under the EUPL, Version 1.2 or – as soon they will be approved by the European Commission - subsequent versions of the EUPL (the "Licence");

You may not use this work except in compliance with the Licence.
You may obtain a copy of the Licence at:

Unless required by applicable law or agreed to in writing, software distributed under the Licence is distributed on an "AS IS" basis

See the Licence for the specific language governing permissions and limitations under the Licence.