Robot Model

[sp-sophia-labs]

check : frankaemika/franka_ros2#48
No being able to access robot model / state doesn't look normal : State interface with key 'fr3/robot_model' does not exis. Give it a try with FR3, libfranka13 and latest franka ros. If it works, test with your franka fork.

[sp-sophia-labs]

test on fr3 : ros2 control list_hardware_interfaces
command interfaces
0/cartesian_pose [available] [unclaimed]
1/cartesian_pose [available] [unclaimed]
10/cartesian_pose [available] [unclaimed]
11/cartesian_pose [available] [unclaimed]
12/cartesian_pose [available] [unclaimed]
13/cartesian_pose [available] [unclaimed]
14/cartesian_pose [available] [unclaimed]
15/cartesian_pose [available] [unclaimed]
2/cartesian_pose [available] [unclaimed]
3/cartesian_pose [available] [unclaimed]
4/cartesian_pose [available] [unclaimed]
5/cartesian_pose [available] [unclaimed]
6/cartesian_pose [available] [unclaimed]
7/cartesian_pose [available] [unclaimed]
8/cartesian_pose [available] [unclaimed]
9/cartesian_pose [available] [unclaimed]
fr3_joint1/effort [available] [unclaimed]
fr3_joint1/position [available] [unclaimed]
fr3_joint1/velocity [available] [unclaimed]
fr3_joint2/effort [available] [unclaimed]
fr3_joint2/position [available] [unclaimed]
fr3_joint2/velocity [available] [unclaimed]
fr3_joint3/effort [available] [unclaimed]
fr3_joint3/position [available] [unclaimed]
fr3_joint3/velocity [available] [unclaimed]
fr3_joint4/effort [available] [unclaimed]
fr3_joint4/position [available] [unclaimed]
fr3_joint4/velocity [available] [unclaimed]
fr3_joint5/effort [available] [unclaimed]
fr3_joint5/position [available] [unclaimed]
fr3_joint5/velocity [available] [unclaimed]
fr3_joint6/effort [available] [unclaimed]
fr3_joint6/position [available] [unclaimed]
fr3_joint6/velocity [available] [unclaimed]
fr3_joint7/effort [available] [unclaimed]
fr3_joint7/position [available] [unclaimed]
fr3_joint7/velocity [available] [unclaimed]
joint_3_position/elbow_command [available] [unclaimed]
joint_4_sign/elbow_command [available] [unclaimed]
vx/cartesian_velocity [available] [unclaimed]
vy/cartesian_velocity [available] [unclaimed]
vz/cartesian_velocity [available] [unclaimed]
wx/cartesian_velocity [available] [unclaimed]
wy/cartesian_velocity [available] [unclaimed]
wz/cartesian_velocity [available] [unclaimed]
state interfaces
0/initial_cartesian_pose
1/initial_cartesian_pose
10/initial_cartesian_pose
11/initial_cartesian_pose
12/initial_cartesian_pose
13/initial_cartesian_pose
14/initial_cartesian_pose
15/initial_cartesian_pose
2/initial_cartesian_pose
3/initial_cartesian_pose
4/initial_cartesian_pose
5/initial_cartesian_pose
6/initial_cartesian_pose
7/initial_cartesian_pose
8/initial_cartesian_pose
9/initial_cartesian_pose
fr3/robot_model
fr3/robot_state
fr3_joint1/effort
fr3_joint1/initial_joint_position
fr3_joint1/position
fr3_joint1/velocity
fr3_joint2/effort
fr3_joint2/initial_joint_position
fr3_joint2/position
fr3_joint2/velocity
fr3_joint3/effort
fr3_joint3/initial_joint_position
fr3_joint3/position
fr3_joint3/velocity
fr3_joint4/effort
fr3_joint4/initial_joint_position
fr3_joint4/position
fr3_joint4/velocity
fr3_joint5/effort
fr3_joint5/initial_joint_position
fr3_joint5/position
fr3_joint5/velocity
fr3_joint6/effort
fr3_joint6/initial_joint_position
fr3_joint6/position
fr3_joint6/velocity
fr3_joint7/effort
fr3_joint7/initial_joint_position
fr3_joint7/position
fr3_joint7/velocity
joint_3_position/initial_elbow_state
joint_4_sign/initial_elbow_state