This repository serves as a personal backup for code related to teleoperating the Franka Research 3 (FR3) robot using an Xbox controller with ROS2. It builds upon the official FR3 repository.

To include new code in the project:

1. Add the new file to the my_franka_controller/my_franka_controller directory.
2. Update the my_franka_controller/setup.py file to include the new file in the entry_points section.

Example setup.py configuration:

entry_points={
    'console_scripts': [
        'move_to_pose = my_franka_controller.move_to_pose:main',
        'move_to_joint = my_franka_controller.move_to_joint:main',
        'get_pose = my_franka_controller.get_pose:main',
    ],
},

Follow these steps to run the teleoperation system:

1. Launch the MoveIt configuration for FR3, replacing {fr3/ip/address} with the robot's IP address:

ros2 launch franka_fr3_moveit_config moveit.launch.py robot_ip:={fr3/ip/address}

2. Start the joystick node:

ros2 run joy joy_node

3. Run the Xbox teleoperation node:

ros2 run my_franka_controller xbox_teleop