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franka_ros2

  • Software
  • Robot arms and industry
  • Driver or SDK

A ROS 2 integration of libfranka for controlling Franka Robotics research arms, including FR3 Duo and TMRv0.2 mobile setups. Built for robotics research and development.

Made by FRANKA ROBOTICS.

Source on GitHub: github.com/frankarobotics/franka_ros2 (opens in a new tab). Facts read at commit 4acc05c (opens in a new tab).

Licenses

Code
Apache-2.0 (opens in a new tab)

Read by Robotheca from LICENSE (opens in a new tab) (Apache-2.0) at commit 4acc05c (opens in a new tab), on 22 Oct 2026.

Commercial use
Yes

What it does

  • Provides a ROS 2 interface for controlling Franka Robotics research robots.
  • Includes example controllers that can be selected through launch files and configuration files.
  • Supports dual-arm FR3 Duo and mobile FR3 Duo setups, with one controller active at a time.
  • Offers a MoveIt launch configuration that can run with dummy hardware for testing without a robot.
  • Can be built locally with colcon or inside a Docker container, with Dev Container support for VS Code.
  • Includes examples for running with Gazebo simulation.

Written by Robotheca from the project's README (opens in a new tab) at commit 4acc05c.

Getting started

Difficulty
Advanced
Hardware it needs, as the project states it
Built upon ROS 2 Jazzy and installed on Ubuntu; a real-time kernel is recommended for reliable robot communication. Docker Engine is suggested over Docker Desktop. Requires a Franka Robotics research robot (arm, FR3 Duo or TMRv0.2 mobile base) for real use; a fake-hardware mode runs without one.

Maintenance

Status
Active: a commit in the last 90 days
Newest commit
6 Oct 2026 on jazzy
Latest release
franka_ros2 v3.6.0 (6 Oct 2026)

Checked on GitHub on 22 Oct 2026.

Links

Robots that can run it

No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.

Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.