How the pieces fit

Your program chooses where to move. franka-rs handles the control loop.

You can run everything on one Linux PC, or let a Raspberry Pi 5 control the robot while your program runs on your laptop.

What do I need?

On one computer: use franka-rs from Rust or Python on the Linux PC connected to the robot. The library runs the control loop inside your program.

With a Pi: run franka-node on the Pi and use franka-node-client in your laptop’s Python program. The node is a service that runs franka-rs beside the robot, so your laptop can send goals and read the robot’s state over the network.

The computer connected to a real robot needs realtime Linux and wired Ethernet. The setup guides walk through that preparation. Cameras and recording can be added later.

Start here

• Have a Pi? Set up the Pi and your laptop.
• Using one Linux PC? Install the library.
• No robot yet? Try the simulator and viewer.

For the full component diagram, message flow and package reference, see Architecture in detail.