Keeping the Franka Emika Panda alive: a ROS 2 stack with a reliable position interface
Keeping the Franka Emika Panda alive: a ROS 2 stack with a reliable position interface
This paper presents an open-source software stack that restores ROS 2 support for the Franka Emika Panda robot by addressing instability in its external position control interface. The authors identify vibrations and protective stops as resulting from timing mismatches and sampling jitter, not inherent hardware limits. They introduce an asynchronous hardware interface to decouple real-time communication from the ROS 2 loop, a rate-matching mechanism for slower command sources, and a position-domain reference generation strategy. Experimental results show reliable velocity tracking with reduced motion artifacts compared to the official implementation. The stack was validated on two independent Panda platforms across motion planning, compliance control, position-controlled manipulation, and haptic teleoperation. Code and videos are available at https://sites.google.com/unisa.it/fer-ros2.
The authors attribute motion artifacts and protective stops to timing issues in the external control loop rather than hardware limitations, validating their asynchronous interface across two Panda platforms for planning, compliance, manipulation, and teleoperation.
Source: arXiv Robotics — research abstracts · Read original article ↗
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osed architecture reliably tracks velocity references by reducing motion artifacts introduced by the official implementation, and the stack is validated across motion planning, compliance control, position-controlled manipulation, and haptic teleoperation on two independent Panda platforms. By restoring a modern, reliable, and open ROS 2 ecosystem for the Panda, this work lowers the barrier to developing safe, respon
Open source S4
sive, and reproducible human-robot collaboration applications that integrate planning, perception, interaction, and shared autonomy. Code and videos are available on our website at https://sites.google.com/unisa.it/fer-ros2.
Open source S5
Source：arXiv Robotics — research abstracts · arxiv.org