2 papers
cs.RO2026
Keeping the Franka Emika Panda alive: a ROS 2 stack with a reliable position interface
Antonio Langella, Davide Risi, Vincenzo Petrone +2
This paper presents an open-source software stack that restores ROS 2 support for the Franka Emika Panda robot while resolving the long-standing unreliability of its external posit…
cs.RO2026
Simplifying ROS2 controllers with a modular architecture for robot-agnostic reference generation
Davide Risi, Vincenzo Petrone, Antonio Langella +3
This paper introduces a novel modular architecture for ROS2 that decouples the logic required to acquire, validate, and interpolate references from the control laws that track them…