franka_plotter is a program that makes Franka Emika Panda robot plot images! It is written in C++ and uses libfranka.

1. Welcome to franka_plotter
2. Contents
3. Dependencies
4. Usage
5. Building
6. Contributors

• libfranka
• CMake
• (optional) GIMP
• (optional) Autotrace (Follow this guide to build from source)

franka_plotter requires a SVG image to operate. The image can be passed through command line:

./franka_plotter image.svg

franka_plotter_grasp is an utility to grasp and release the robot's fingers.

./franka_plotter_grasp 10   #Grasp with force of 10 Newtons
./franka_plotter_grasp      #Release

Note that franka_plotter has only partial support of SVG format - it supports only <path> elements, all other elements will be ignored. One way to get such image is to use vectorize.sh script (requires GIMP and Autotrace):

./vectorize.sh image.png

fraka_plotter also reads configuration file fraka_plotter.config. Parameters, their description and default values could be found in the file.

The library can be built with CMake using the following commands:

mkdir build
cd build
cmake ..
cmake --build .

• Kyrylo Sovailo
• Models from model directory were initially generated with Gazebo from ROS package franka_description
• Example image derpy.png depicts Derpy Hooves. All rights on the character are reserved by Hasbro Inc