With this library, you can control research versions of Franka Emika robots. See the Franka Control Interface (FCI) documentation for more information about what libfranka can do and how to set it up. The generated API documentation also gives an overview of its capabilities.
cd external/sara-shield/safety_shield/external/SaRA/ReachLib/
mkdir build
cd build
cmake ..
make -j10
sudo make install
cd <libfranka-SaRA-dir>
mkdir build
cd build
cmake ..
make -j10
cpack -G DEB
sudo dpkg -i libfranka*.deb
libfranka is licensed under the Apache 2.0 license.