robot_safety_layer

Root controller for the Franka FR3. Entry point for all user commands (Meta Quest / policy), applies workspace safety checks, arbitrates between teleoperation and policy control, integrates joint velocities from robot_ik_layer, and drives the robot.

Role in the pipeline

meta_quest / policy  →  target_pose (service)  →  franka_controller_node
                                                         │
                                          safe_target_pose (topic)
                                                         │
                                                   robot_ik_layer
                                                         │
                                               target_dq (topic)
                                                         │
                                          franka_controller_node  →  target_joint  →  robot

Node: franka_controller_node

Topics & Services

Direction	Name	Type	Description
Service	target_pose	SetPoseStamped	Cartesian target from Meta Quest or any caller
Sub	joint_states	JointState	Own arm joint positions
Sub	/<other_ns>/joint_states	JointState	Other arm joint positions (for collision avoidance)
Sub	target_dq	JointState	Joint velocities from robot_ik_layer
Sub	policy_target_dq	JointState	Joint velocities from a learned policy
Pub	safe_target_pose	PoseStamped	Safety-adjusted target forwarded to robot_ik_layer
Pub	target_joint	JointState	Integrated position + velocity command to the robot
Pub	safety_vis	Marker	RViz visualization of safety boundaries