panda_world

The package contains all the files needed for the gazebo simulation containing the Franka Emika Panda robot, the RGB-D camera and a human actor. The robot and camera models are in the models folder, with the respective meshes in the meshes folder. The config folder contains the config file for the ros_gz bridge.

Nodes

image_converter

The image_converter node converts the gazebo depth map image in 16UC1 format for the YOLO nodes.

joint_state_publisher_effort_patcher

The joint_state_publisher_effort_patcher node republishes the JointState message coming from the bridge to the same ROS2 network updating the torque field with the torque commanded by the controller. This node is required because the JointStatePublisher plugin in gazebo have an open issue regarding the torque exterted by the joints.

torque_sensor_publisher

The torque_sensor_publisher node republishes the external torques acting on the joints as a WrenchStamped message.

Launch files

The package contains one launch file that spawns several nodes along with the gazebo simulation and an rviz2 instance. The nodes publish the Tf2 of the robot link's frame, the robot's joints state, the rgb and depth images.

ROS2 network