Franka TMR spine and battery ROS 2 interfaces — device market

Install

Three ways to run this device. Each one serves its fake backend: no instrument, no simulator install and no upstream checkout.

OpenAI4S (one command)

shell

openai4s lab add robots/frankarobotics__franka_ros2

Installs the device into the OpenAI4S Lab on its fake backend and starts it. First time? See setup below.

Or, in the workbench, open the Lab tab → Market → Install.

Standalone MHS endpoint

shell

git clone --depth 1 https://github.com/PKU-YuanGroup/OpenMHS.git && cd OpenMHS
PYTHONPATH=MHS/sdk/src python3 -m mhs serve robots/frankarobotics__franka_ros2 --port 7400
# in a second terminal, from the same directory:
PYTHONPATH=MHS/sdk/src python3 -m mhs describe --endpoint http://127.0.0.1:7400

Serves the device as an MHS endpoint on port 7400 from an OpenMHS clone (Python 3.10 or later, standard library only); describe prints what it offers.

Any MCP host (Claude Desktop, Cursor, …)

mcp configuration

{
  "mcpServers": {
    "franka-ros2": {
      "command": "python3",
      "args": [
        "-m",
        "mhs",
        "serve",
        "robots/frankarobotics__franka_ros2",
        "--mcp"
      ],
      "env": {
        "PYTHONPATH": "/path/to/OpenMHS/MHS/sdk/src"
      }
    }
  }
}

Add this server to the host's MCP configuration and replace /path/to/OpenMHS with the path of your OpenMHS clone. The host starts the server and talks to it on stdin and stdout.

What it does

Measures

position
position_valid
state
state_valid
state_error_code
state_error_description
read_battery_state

Adjusts

Nothing declared.

Actions

move_absolute: Move the spine to an absolute position through the ROS 2 MoveAbsolute action; the action returns the spine's reached flag and stop reason, and cancellation requests the upstream quick-stop and re-arm path
halt_motion: Halt an ongoing spine motion through the acknowledged Halt service; the upstream quick-stop then waits for SwitchedOff and re-arms the drive to SwitchedOn, so this is not the safe state
switch_off_spine: Switch the spine drive off through the acknowledged SwitchOff service; the callback returns after the REST transition to SwitchedOff, which disables motion
switch_on_spine: Switch the spine drive on through the acknowledged SwitchOn service (SwitchedOn, enabling motion); the declared re-enable after a safety reset: the reset never calls it and it is refused while the e-stop is latched
stop_wireless_charging: Stop wireless charging through the acknowledged std_srvs/Trigger service; the output is the service's application result, not a measured charging state
try_start_wireless_charging: Attempt to start wireless charging through the acknowledged std_srvs/Trigger service; the output is the service's application result, not a measured charging state

Names as the driver declares them. Units, limits and the safety declaration are in the package's REFERENCE.md.

First-time setup

The OpenAI4S workbench with the OpenMHS lab, from a source checkout:

shell

# OpenAI4S workbench with the OpenMHS lab (source checkout)
git clone --recursive https://github.com/PKU-YuanGroup/OpenAI4S.git
cd OpenAI4S && ./setup.sh && source .venv/bin/activate
openai4s lab add robots/frankarobotics__franka_ros2
openai4s serve        # open the Lab tab

The standalone endpoint and the MCP server need only an OpenMHS clone and Python 3.10 or later. More in the market's getting-started guide and on the OpenAI4S host page.

Source and evidence

Upstream: frankarobotics/franka_ros2
Pinned commit: 4acc05c01ebf
Licence: Apache-2.0
Stars: 385
Evidence: contract_checked on the fake backend
Backends: fake

The driver package MHS/drivers/robots/frankarobotics__franka_ros2 wraps the upstream code at the pinned commit. Its REFERENCE.md documents the full contract: every value, action, unit, limit and the safety declaration.