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在自己的工作空间中调用libfranka包运行Franka机械臂的代码_libfranka moveit

作者：小桥流水78 | 2024-08-08 11:26:44

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libfranka moveit

  在安装好libfranka和franka_ros包之后，可以直接运行libfranka工作空间中的devel->lib->功能包里面的可执行文件，就可以直接控制机械臂了。如果有还没有配置好libfranka和franka_ros的小伙伴，可以去查看Franka环境配置

  那么如何自己的工作空间下调用libfranka包成功编译自己的代码呢，以官方给出的例程为例，一步步展示，下面会有很多图，保证你学会。

目录

一.创建自己的工作空间

二.在c_cpp_properties.json文件中添加路径

三.编写CMakeList文件

四.编译文件

 五.执行文件

   我们使用的是官网例程generate_joint_position_motion.cpp，这个例程是设计机械臂的七个关节角控制机械臂的运动。显然在我们自己的工作空间中是运行不了的，因为我们缺少头文件，下面我们就演示一下怎么调用libfranka包里面的头文件来编译这个例程。

  1. // Copyright (c) 2017 Franka Emika GmbH
  2. // Use of this source code is governed by the Apache-2.0 license, see LICENSE
  3. #include <cmath>
  4. #include <iostream>
  5.  
  6. #include <franka/exception.h>
  7. #include <franka/robot.h>
  8.  
  9. #include "examples_common.h"
  10.  
  11. /**
  12.  * @example generate_joint_position_motion.cpp
  13.  * An example showing how to generate a joint position motion.
  14.  *
  15.  * @warning Before executing this example, make sure there is enough space in front of the robot.
  16.  */
  17.  
  18. int main(int argc, char** argv) {
  19.   if (argc != 2) {
  20.     std::cerr << "Usage: " << argv[0] << " <robot-hostname>" << std::endl;
  21.     return -1;
  22.   }
  23.   try {
  24.     franka::Robot robot(argv[1]);
  25.     setDefaultBehavior(robot);
  26.  
  27.     // First move the robot to a suitable joint configuration
  28.     std::array<double, 7> q_goal = {{0, -M_PI_4, 0, -3 * M_PI_4, 0, M_PI_2, M_PI_4}};
  29.     MotionGenerator motion_generator(0.5, q_goal);
  30.     std::cout << "WARNING: This example will move the robot! "
  31.               << "Please make sure to have the user stop button at hand!" << std::endl
  32.               << "Press Enter to continue..." << std::endl;
  33.     std::cin.ignore();
  34.     robot.control(motion_generator);
  35.     std::cout << "Finished moving to initial joint configuration." << std::endl;
  36.  
  37.     // Set additional parameters always before the control loop, NEVER in the control loop!
  38.     // Set collision behavior.
  39.     robot.setCollisionBehavior(
  40.         {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},
  41.         {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},
  42.         {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}},
  43.         {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}});
  44.  
  45.     std::array<double, 7> initial_position;
  46.     double time = 0.0;
  47.     robot.control([&initial_position, &time](const franka::RobotState& robot_state,
  48.                                              franka::Duration period) -> franka::JointPositions {
  49.       time += period.toSec();
  50.  
  51.       if (time == 0.0) {
  52.         initial_position = robot_state.q_d;
  53.       }
  54.  
  55.       double delta_angle = M_PI / 8.0 * (1 - std::cos(M_PI / 2.5 * time));
  56.  
  57.       franka::JointPositions output = {{initial_position[0], initial_position[1],
  58.                                         initial_position[2], initial_position[3] + delta_angle,
  59.                                         initial_position[4] + delta_angle, initial_position[5],
  60.                                         initial_position[6] + delta_angle}};
  61.  
  62.       if (time >= 5.0) {
  63.         std::cout << std::endl << "Finished motion, shutting down example" << std::endl;
  64.         return franka::MotionFinished(output);
  65.       }
  66.       return output;
  67.     });
  68.   } catch (const franka::Exception& e) {
  69.     std::cout << e.what() << std::endl;
  70.     return -1;
  71.   }
  72.  
  73.   return 0;
  74. }

一.创建自己的工作空间

在终端中输入

  1. mkdir -p position_generator/src
  2. cd position_generator/
  3. catkin_make
  4. code .

进入VScode之后，ctrl+shift+B打开小窗口，点击catkin_make:buil右边的小齿轮，把下面程序替换进{}tasks.json文件中：

  1. {
  2. // 有关 tasks.json 格式的文档，请参见
  3.     // https://go.microsoft.com/fwlink/?LinkId=733558
  4.     "version": "2.0.0",
  5.     "tasks": [
  6.         {
  7.             "label": "catkin_make:debug", //代表提示的描述性信息
  8.             "type": "shell",  //可以选择shell或者process,如果是shell代码是在shell里面运行一个命令，如果是process代表作为一个进程来运行
  9.             "command": "catkin_make",//这个是我们需要运行的命令
  10.             "args": [],//如果需要在命令后面加一些后缀，可以写在这里，比如-DCATKIN_WHITELIST_PACKAGES=“pac1;pac2”
  11.             "group": {"kind":"build","isDefault":true},
  12.             "presentation": {
  13.                 "reveal": "always"//可选always或者silence，代表是否输出信息
  14.             },
  15.             "problemMatcher": "$msCompile"
  16.         }
  17.     ]
  18. }

配置好之后ctrl+shift+B会自动编译。然后新建功能包叫“generate_position”。在include目录下创建“common.h”头文件，在src目录下创建源文件“position.cpp”和“common.cpp”。其中position.cpp里面放主函数。这里操作不太会的小伙伴可以参考VScode 使用教程——ros下编译C/C++代码。建好的文件夹如下：

 编写头文件和源文件的代码，直接复制下面的代码即可（下面的三个代码分别来自于libfranka->examples文件夹里面的例程examples_common.h         examples_common.cpp        generate_joint_position_motion.cpp）

注意：

这里的代码和例程中的代码略微有些不同。

  • common.cpp和position.cpp中都将例程中的#include "examples_common.h"改成了#include "generate_position/common.h"

因为我们这里common.h头文件是在include/generate_position目录下的

  • “common.h”头文件代码

  1. // Copyright (c) 2017 Franka Emika GmbH
  2. // Use of this source code is governed by the Apache-2.0 license, see LICENSE
  3. #pragma once
  4.  
  5. #include <array>
  6.  
  7. #include <Eigen/Core>
  8.  
  9. #include <franka/control_types.h>
  10. #include <franka/duration.h>
  11. #include <franka/robot.h>
  12. #include <franka/robot_state.h>
  13.  
  14. /**
  15.  * @file examples_common.h
  16.  * Contains common types and functions for the examples.
  17.  */
  18.  
  19. /**
  20.  * Sets a default collision behavior, joint impedance, Cartesian impedance, and filter frequency.
  21.  *
  22.  * @param[in] robot Robot instance to set behavior on.
  23.  */
  24. void setDefaultBehavior(franka::Robot& robot);
  25.  
  26. /**
  27.  * An example showing how to generate a joint pose motion to a goal position. Adapted from:
  28.  * Wisama Khalil and Etienne Dombre. 2002. Modeling, Identification and Control of Robots
  29.  * (Kogan Page Science Paper edition).
  30.  */
  31. class MotionGenerator {
  32.  public:
  33.   /**
  34.    * Creates a new MotionGenerator instance for a target q.
  35.    *
  36.    * @param[in] speed_factor General speed factor in range [0, 1].
  37.    * @param[in] q_goal Target joint positions.
  38.    */
  39.   MotionGenerator(double speed_factor, const std::array<double, 7> q_goal);
  40.  
  41.   /**
  42.    * Sends joint position calculations
  43.    *
  44.    * @param[in] robot_state Current state of the robot.
  45.    * @param[in] period Duration of execution.
  46.    *
  47.    * @return Joint positions for use inside a control loop.
  48.    */
  49.   franka::JointPositions operator()(const franka::RobotState& robot_state, franka::Duration period);
  50.  
  51.  private:
  52.   using Vector7d = Eigen::Matrix<double, 7, 1, Eigen::ColMajor>;
  53.   using Vector7i = Eigen::Matrix<int, 7, 1, Eigen::ColMajor>;
  54.  
  55.   bool calculateDesiredValues(double t, Vector7d* delta_q_d) const;
  56.   void calculateSynchronizedValues();
  57.  
  58.   static constexpr double kDeltaQMotionFinished = 1e-6;
  59.   const Vector7d q_goal_;
  60.  
  61.   Vector7d q_start_;
  62.   Vector7d delta_q_;
  63.  
  64.   Vector7d dq_max_sync_;
  65.   Vector7d t_1_sync_;
  66.   Vector7d t_2_sync_;
  67.   Vector7d t_f_sync_;
  68.   Vector7d q_1_;
  69.  
  70.   double time_ = 0.0;
  71.  
  72.   Vector7d dq_max_ = (Vector7d() << 2.0, 2.0, 2.0, 2.0, 2.5, 2.5, 2.5).finished();
  73.   Vector7d ddq_max_start_ = (Vector7d() << 5, 5, 5, 5, 5, 5, 5).finished();
  74.   Vector7d ddq_max_goal_ = (Vector7d() << 5, 5, 5, 5, 5, 5, 5).finished();
  75. };

  • “common.cpp”代码

  1. // Copyright (c) 2017 Franka Emika GmbH
  2. // Use of this source code is governed by the Apache-2.0 license, see LICENSE
  3. #include "generate_position/common.h"
  4.  
  5. #include <algorithm>
  6. #include <array>
  7. #include <cmath>
  8.  
  9. #include <franka/exception.h>
  10. #include <franka/robot.h>
  11.  
  12. void setDefaultBehavior(franka::Robot& robot) {
  13.   robot.setCollisionBehavior(
  14.       {{20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0}}, {{20.0, 20.0, 20.0, 20.0, 20.0, 20.0, 20.0}},
  15.       {{10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0}}, {{10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0}},
  16.       {{20.0, 20.0, 20.0, 20.0, 20.0, 20.0}}, {{20.0, 20.0, 20.0, 20.0, 20.0, 20.0}},
  17.       {{10.0, 10.0, 10.0, 10.0, 10.0, 10.0}}, {{10.0, 10.0, 10.0, 10.0, 10.0, 10.0}});
  18.   robot.setJointImpedance({{3000, 3000, 3000, 2500, 2500, 2000, 2000}});
  19.   robot.setCartesianImpedance({{3000, 3000, 3000, 300, 300, 300}});
  20. }
  21.  
  22. MotionGenerator::MotionGenerator(double speed_factor, const std::array<double, 7> q_goal)
  23.     : q_goal_(q_goal.data()) {
  24.   dq_max_ *= speed_factor;
  25.   ddq_max_start_ *= speed_factor;
  26.   ddq_max_goal_ *= speed_factor;
  27.   dq_max_sync_.setZero();
  28.   q_start_.setZero();
  29.   delta_q_.setZero();
  30.   t_1_sync_.setZero();
  31.   t_2_sync_.setZero();
  32.   t_f_sync_.setZero();
  33.   q_1_.setZero();
  34. }
  35.  
  36. bool MotionGenerator::calculateDesiredValues(double t, Vector7d* delta_q_d) const {
  37.   Vector7i sign_delta_q;
  38.   sign_delta_q << delta_q_.cwiseSign().cast<int>();
  39.   Vector7d t_d = t_2_sync_ - t_1_sync_;
  40.   Vector7d delta_t_2_sync = t_f_sync_ - t_2_sync_;
  41.   std::array<bool, 7> joint_motion_finished{};
  42.  
  43.   for (size_t i = 0; i < 7; i++) {
  44.     if (std::abs(delta_q_[i]) < kDeltaQMotionFinished) {
  45.       (*delta_q_d)[i] = 0;
  46.       joint_motion_finished[i] = true;
  47.     } else {
  48.       if (t < t_1_sync_[i]) {
  49.         (*delta_q_d)[i] = -1.0 / std::pow(t_1_sync_[i], 3.0) * dq_max_sync_[i] * sign_delta_q[i] *
  50.                           (0.5 * t - t_1_sync_[i]) * std::pow(t, 3.0);
  51.       } else if (t >= t_1_sync_[i] && t < t_2_sync_[i]) {
  52.         (*delta_q_d)[i] = q_1_[i] + (t - t_1_sync_[i]) * dq_max_sync_[i] * sign_delta_q[i];
  53.       } else if (t >= t_2_sync_[i] && t < t_f_sync_[i]) {
  54.         (*delta_q_d)[i] =
  55.             delta_q_[i] + 0.5 *
  56.                               (1.0 / std::pow(delta_t_2_sync[i], 3.0) *
  57.                                    (t - t_1_sync_[i] - 2.0 * delta_t_2_sync[i] - t_d[i]) *
  58.                                    std::pow((t - t_1_sync_[i] - t_d[i]), 3.0) +
  59.                                (2.0 * t - 2.0 * t_1_sync_[i] - delta_t_2_sync[i] - 2.0 * t_d[i])) *
  60.                               dq_max_sync_[i] * sign_delta_q[i];
  61.       } else {
  62.         (*delta_q_d)[i] = delta_q_[i];
  63.         joint_motion_finished[i] = true;
  64.       }
  65.     }
  66.   }
  67.   return std::all_of(joint_motion_finished.cbegin(), joint_motion_finished.cend(),
  68.                      [](bool x) { return x; });
  69. }
  70.  
  71. void MotionGenerator::calculateSynchronizedValues() {
  72.   Vector7d dq_max_reach(dq_max_);
  73.   Vector7d t_f = Vector7d::Zero();
  74.   Vector7d delta_t_2 = Vector7d::Zero();
  75.   Vector7d t_1 = Vector7d::Zero();
  76.   Vector7d delta_t_2_sync = Vector7d::Zero();
  77.   Vector7i sign_delta_q;
  78.   sign_delta_q << delta_q_.cwiseSign().cast<int>();
  79.  
  80.   for (size_t i = 0; i < 7; i++) {
  81.     if (std::abs(delta_q_[i]) > kDeltaQMotionFinished) {
  82.       if (std::abs(delta_q_[i]) < (3.0 / 4.0 * (std::pow(dq_max_[i], 2.0) / ddq_max_start_[i]) +
  83.                                    3.0 / 4.0 * (std::pow(dq_max_[i], 2.0) / ddq_max_goal_[i]))) {
  84.         dq_max_reach[i] = std::sqrt(4.0 / 3.0 * delta_q_[i] * sign_delta_q[i] *
  85.                                     (ddq_max_start_[i] * ddq_max_goal_[i]) /
  86.                                     (ddq_max_start_[i] + ddq_max_goal_[i]));
  87.       }
  88.       t_1[i] = 1.5 * dq_max_reach[i] / ddq_max_start_[i];
  89.       delta_t_2[i] = 1.5 * dq_max_reach[i] / ddq_max_goal_[i];
  90.       t_f[i] = t_1[i] / 2.0 + delta_t_2[i] / 2.0 + std::abs(delta_q_[i]) / dq_max_reach[i];
  91.     }
  92.   }
  93.   double max_t_f = t_f.maxCoeff();
  94.   for (size_t i = 0; i < 7; i++) {
  95.     if (std::abs(delta_q_[i]) > kDeltaQMotionFinished) {
  96.       double a = 1.5 / 2.0 * (ddq_max_goal_[i] + ddq_max_start_[i]);
  97.       double b = -1.0 * max_t_f * ddq_max_goal_[i] * ddq_max_start_[i];
  98.       double c = std::abs(delta_q_[i]) * ddq_max_goal_[i] * ddq_max_start_[i];
  99.       double delta = b * b - 4.0 * a * c;
  100.       if (delta < 0.0) {
  101.         delta = 0.0;
  102.       }
  103.       dq_max_sync_[i] = (-1.0 * b - std::sqrt(delta)) / (2.0 * a);
  104.       t_1_sync_[i] = 1.5 * dq_max_sync_[i] / ddq_max_start_[i];
  105.       delta_t_2_sync[i] = 1.5 * dq_max_sync_[i] / ddq_max_goal_[i];
  106.       t_f_sync_[i] =
  107.           (t_1_sync_)[i] / 2.0 + delta_t_2_sync[i] / 2.0 + std::abs(delta_q_[i] / dq_max_sync_[i]);
  108.       t_2_sync_[i] = (t_f_sync_)[i] - delta_t_2_sync[i];
  109.       q_1_[i] = (dq_max_sync_)[i] * sign_delta_q[i] * (0.5 * (t_1_sync_)[i]);
  110.     }
  111.   }
  112. }
  113.  
  114. franka::JointPositions MotionGenerator::operator()(const franka::RobotState& robot_state,
  115.                                                    franka::Duration period) {
  116.   time_ += period.toSec();
  117.  
  118.   if (time_ == 0.0) {
  119.     q_start_ = Vector7d(robot_state.q_d.data());
  120.     delta_q_ = q_goal_ - q_start_;
  121.     calculateSynchronizedValues();
  122.   }
  123.  
  124.   Vector7d delta_q_d;
  125.   bool motion_finished = calculateDesiredValues(time_, &delta_q_d);
  126.  
  127.   std::array<double, 7> joint_positions;
  128.   Eigen::VectorXd::Map(&joint_positions[0], 7) = (q_start_ + delta_q_d);
  129.   franka::JointPositions output(joint_positions);
  130.   output.motion_finished = motion_finished;
  131.   return output;
  132. }
  • “position.cpp”代码
  1. // Copyright (c) 2017 Franka Emika GmbH
  2. // Use of this source code is governed by the Apache-2.0 license, see LICENSE
  3. #include <cmath>
  4. #include <iostream>
  5.  
  6. #include <franka/exception.h>
  7. #include <franka/robot.h>
  8.  
  9. #include "generate_position/common.h"
  10.  
  11. /**
  12.  * @example generate_joint_position_motion.cpp
  13.  * An example showing how to generate a joint position motion.
  14.  *
  15.  * @warning Before executing this example, make sure there is enough space in front of the robot.
  16.  */
  17.  
  18. int main(int argc, char** argv) {
  19.   if (argc != 2) {
  20.     std::cerr << "Usage: " << argv[0] << " <robot-hostname>" << std::endl;
  21.     return -1;
  22.   }
  23.   try {
  24.     franka::Robot robot(argv[1]);
  25.     setDefaultBehavior(robot);
  26.  
  27.     // First move the robot to a suitable joint configuration
  28.     std::array<double, 7> q_goal = {{0, -M_PI_4, 0, -3 * M_PI_4, 0, M_PI_2, M_PI_4}};
  29.     MotionGenerator motion_generator(0.5, q_goal);
  30.     std::cout << "WARNING: This example will move the robot! "
  31.               << "Please make sure to have the user stop button at hand!" << std::endl
  32.               << "Press Enter to continue..." << std::endl;
  33.     std::cin.ignore();
  34.     robot.control(motion_generator);
  35.     std::cout << "Finished moving to initial joint configuration." << std::endl;
  36.  
  37.     // Set additional parameters always before the control loop, NEVER in the control loop!
  38.     // Set collision behavior.
  39.     robot.setCollisionBehavior(
  40.         {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},
  41.         {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}}, {{20.0, 20.0, 18.0, 18.0, 16.0, 14.0, 12.0}},
  42.         {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}},
  43.         {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}}, {{20.0, 20.0, 20.0, 25.0, 25.0, 25.0}});
  44.  
  45.     std::array<double, 7> initial_position;
  46.     double time = 0.0;
  47.     robot.control([&initial_position, &time](const franka::RobotState& robot_state,
  48.                                              franka::Duration period) -> franka::JointPositions {
  49.       time += period.toSec();
  50.  
  51.       if (time == 0.0) {
  52.         initial_position = robot_state.q_d;
  53.       }
  54.  
  55.       double delta_angle = M_PI / 8.0 * (1 - std::cos(M_PI / 2.5 * time));
  56.  
  57.       franka::JointPositions output = {{initial_position[0], initial_position[1],
  58.                                         initial_position[2], initial_position[3] + delta_angle,
  59.                                         initial_position[4] + delta_angle, initial_position[5],
  60.                                         initial_position[6] + delta_angle}};
  61.  
  62.       if (time >= 5.0) {
  63.         std::cout << std::endl << "Finished motion, shutting down example" << std::endl;
  64.         return franka::MotionFinished(output);
  65.       }
  66.       return output;
  67.     });
  68.   } catch (const franka::Exception& e) {
  69.     std::cout << e.what() << std::endl;
  70.     return -1;
  71.   }
  72.  
  73.   return 0;
  74. }

二.在c_cpp_properties.json文件中添加路径

打开.vscod下面的c_cpp_properties.json文件

在“includePath”里面添加上libfranka包里面的头文件的路径，还有一个是自己编写的头文件路径。

（每个人的路径都不一样）

注意，每条路径最后有一个英文逗号，最后一个路径后面没有逗号。

 在这一块我们详细说一下路径的事

因为我们在代码用到了#include <franka/exception.h>  ，#include <franka/robot.h>这些头文件，那么这些头文件在哪里呢。我们vscode中打开libfranka，可以在include下看到我们引用的这些头文件。

那怎么快速获得include下头文件的路径呢，我们右键include,选择Open in Integrated Terminal,在打开的终端中输入

pwd

就可以得到路径了，然后稍微修改一下，在include后面加上/** ，表示包括include下面的所有文件。

 

 自己编写的头文件路径也可以同理获得。

 三.编写CMakeList文件

 CMakeList代码如下，我们解释一下每一部分分别是什么。

  1. cmake_minimum_required(VERSION 3.0.2)
  2. project(generate_position)
  3.  
  4.  
  5. find_package(catkin REQUIRED COMPONENTS
  6.   roscpp
  7.   rospy
  8.   std_msgs
  9. )
  10.  
  11.  
  12. catkin_package(
  13.  
  14. )
  15.  
  16.  
  17. include_directories(
  18. include
  19.   ${catkin_INCLUDE_DIRS}
  20. )
  21. include_directories("/usr/include/eigen3")    # Eigen3库的路径
  22.  
  23.  
  24. add_library(position_lib               # 自己定义库的名字position_lib
  25.   include/${PROJECT_NAME}/common.h     # 调用的自定义头文件，${PROJECT_NAME}表示功能包名
  26.   src/common.cpp                       # 调用的自定义源文件
  27. )
  28.  
  29. add_executable(position src/position.cpp)   # position是自己定义的映射节点名字，一般就是源文件名字
  30.                                             # src/position.cpp就是main函数所在源文件路径
  31. find_package(Franka 0.7.0 REQUIRED)         # 0.7.0改成自己的Franka机械臂版本
  32.  
  33. # add_dependencies要在add_library后面，得先定义了position_lib才能添加依赖
  34. add_dependencies(position_lib ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})    # 之前add_library里面自己定义的库名字add_library
  35. add_dependencies(position ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})       # add_executable中映射的节点名字position
  36.  
  37.  
  38. target_link_libraries(position_lib   # 之前add_library里面自己定义的库名字add_library
  39.   ${Franka_LIBRARIES}                # 这里要添加${Franka_LIBRARIES} 
  40.   ${catkin_LIBRARIES} 
  41. )
  42.  
  43. target_link_libraries(position       # position是自己定义的映射节点名字
  44.   position_lib                       # 之前add_library里面自己定义的库名字add_library
  45.   ${Franka_LIBRARIES}
  46.   ${catkin_LIBRARIES}
  47. )
  48.

四.编译文件

启动roscore

roscore

 新开一个终端，进入工作空间，在终端输入：

catkin_make -DCMAKE_BUILD_TYPE=Release -DFranka_DIR:PATH=~/catkin_franka/libfranka/build

其中PATH=后面跟着的是你的libfranka包编译的路径 

这样就是编译成功了。

 五.执行文件

电脑连接机械臂，然后进入工作空间->devel->lib->功能包，就可以看到可执行文件了，在这里打开终端运行即可。

 如果编译出现问题，说fatal error: Eigen/Core: 没有那个文件或目录，那么就是Eigen3库的问题，可以参考fatal error: Eigen/Core: 没有那个文件或目录_啵啵鱼爱吃小猫咪的博客-CSDN博客

注意：有一个会报错但是不容易发现的问题，就是include/generate_position一定要保证在统一行，如果generate_position变成include的子目录，就会报错

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