API reference
The generated rustdoc for the franka crate is published alongside this book:
→ API reference (api/franka/index.html)
It is built by .github/workflows/docs.yml with
cargo doc --no-deps -p franka-rs
under RUSTDOCFLAGS="-D warnings", so a broken intra-doc link fails the build, and copied
into the site at api/. The library target is named franka, which is why the path is
api/franka/ rather than api/franka-rs/.
Good places to start:
| item | what it is |
|---|---|
franka::Robot | The connection. Setters, read_once, the control_* loops, start_*_control, stop, automatic_error_recovery. |
franka::RobotState | Every field the robot publishes each millisecond. |
franka::Model | Poses, both Jacobians, mass, Coriolis, gravity. |
franka::Gripper | The Franka Hand on port 1338. |
franka::FrankaError | The error taxonomy, one variant per libfranka exception. |
franka::rate_limiting | The FR3 constants and limit_rate_*; the FER’s live in the fer submodule. |
Building it locally:
cargo doc --no-deps -p franka-rs --open