# franka_ros2: ptp motion example node

Official franka_ros2 native main example for ptp motion example node. Inspect the pinned source and upstream setup before use.

ID: `franka-ros2-franka-example-controllers-src-async-motions-ptp-motion-efda9b826143`

Record version: `source-68117f413e7e17e4927ffabce23b2c63fe922dcf23df49c36042af2786629c78`

Hub commit: `f97266a5cdd2c600cd376397a54892f08290df20`

## Access

Fetch the pinned repository, verify this source checksum, and use upstream installation and invocation. This record does not install or execute code.

Optional inert file retrieval: `python /PATH_TO_SKILL/scripts/rsh.py fetch-source franka-ros2-franka-example-controllers-src-async-motions-ptp-motion-efda9b826143 --expected-source-revision 4acc05c01ebfcdf916ee6b3df966df0ad7b2f9ec --expected-source-sha256 68117f413e7e17e4927ffabce23b2c63fe922dcf23df49c36042af2786629c78 --project ./experiment --json`. This verifies one file, preserves provenance and never installs or runs it. See [source-file retrieval](https://hub.superfastrobotics.com/source-files.md).

Hub preparation adapter: **false**. Runtime verification: **not_run**.

Upstream setup: https://github.com/frankarobotics/franka_ros2/blob/4acc05c01ebfcdf916ee6b3df966df0ad7b2f9ec/README.md

## Source and license

- Repository: https://github.com/frankarobotics/franka_ros2
- Pinned source: https://github.com/frankarobotics/franka_ros2/blob/4acc05c01ebfcdf916ee6b3df966df0ad7b2f9ec/franka_example_controllers/src/async_motions/ptp_motion_example_node.cpp
- Revision: `4acc05c01ebfcdf916ee6b3df966df0ad7b2f9ec`
- Path: `franka_example_controllers/src/async_motions/ptp_motion_example_node.cpp`
- Source SHA256: `68117f413e7e17e4927ffabce23b2c63fe922dcf23df49c36042af2786629c78`
- Source bytes: 6630
- Original authors: See pinned upstream source and license notices.
- License: [Apache-2.0](https://github.com/frankarobotics/franka_ros2/blob/4acc05c01ebfcdf916ee6b3df966df0ad7b2f9ec/LICENSE)
- License scope: Repository-root code terms only; file headers, third-party code, models, weights, assets and datasets require separate review.

License SHA256: `a6cba85bc92e0cff7a450b1d873c0eaa2e9fc96bf472df0247a26bec77bf3ff9`

## Requirements

```json
{
  "python": "Inspect the pinned upstream package metadata for the supported Python version.",
  "packages": [],
  "display": "Upstream simulator, robot model, build, display and device requirements; inspect the selected source.",
  "execution_domain": "simulation-or-hardware",
  "source_imports": [
    "franka_example_controllers/async_motions/ptp_motion_example_node.hpp",
    "franka_msgs/action/ptp_motion.hpp",
    "rclcpp/rclcpp.hpp",
    "rclcpp_action/rclcpp_action.hpp"
  ]
}
```

## Invocation

```json
{
  "entrypoint": "Native main: franka_example_controllers/src/async_motions/ptp_motion_example_node.cpp; build the target declared by the pinned upstream build files",
  "notes": "Source reference only. Install the pinned upstream project and its stated dependencies explicitly. Robot bridges may actuate hardware; no hardware execution is established. Asset, model, SDK and data terms remain separate."
}
```

## Compatibility

```json
[]
```

Missing environment fields remain unknown. Source discovery labels do not establish robot compatibility.

## Evidence

Level: **source_reviewed**. Runtime verification: **not_run**.

Fetched and SHA-256 checked this immutable source; statically parsed Python or located native main; verified pinned license bytes and checked explicit per-file license identifiers. No upstream code executed.

Source review and contributor reports do not establish task completion. Preserve upstream attribution and licenses.