See the Franka Control Interface (FCI) documentation for more information.
This fork adds a ROS node which can be launched with
roslaunch franka_example_controllers ros_subscriber_controller.launch
The node will subscribe to controller_command/joint_command which is sensor message of type JointState.
To use you need to set the name of each joint to the mode you want to give the control in. The options are position, velocity or effort.
Note that the "effort" does not actually set force/torque targets, but angular acceleration.
A Python interface to control the robot using the ROS Subscriber Controller can be found in https://gitlab.com/iaai/appliedAI/research/panda/panda_utilitites.
All packages of franka_ros are licensed under the Apache 2.0 license.