question about state broadcaster

[kingchou007]

Hi,

I ran git clone https://github.com/danielsanjosepro/franka_broadcasters.git src/franka_broadcasters and noticed your Docker setup uses this package to publish external wrench and torque.

I am confused why this is needed instead of using the Franka ROS2 state broadcaster directly (e.g., franka_robot_state_broadcaster).

Thanks :)

[danielsanjosepro]

Hey!

You are right, this is quite confusing!
We did this because the franka_robot_state_broadcaster had a bug a few months ago. It would send an error message and crash regularly. That is why we decided to separate this into a pose_broadcaster (which was the most important interface for us) and other Franka-specific broadcasters external_wrench_broadcaster...

I think that now this bug has been fixed, and using the franka_robot_state_broadcaster should work again.
I will try to fix this in January. Alternatively, you can also use https://github.com/danielsanjosepro/pixi_franka_ros2, which should serve as a replacement for the FR3 demo, using Pixi instead of Docker. I tried this last month (while trying out franka_ros2 with jazzy), and it is a nice alternative to the docker container :)

Best,
Daniel

[kingchou007]

@danielsanjosepro Thanks for the explanation. I’ve finished it and it looks good on my side. Maybe I can submit a PR, would you mind taking a look?

[danielsanjosepro]

Sure!