driver and hand tested successful.. next is coppeliamirror node

launch/sas_robot_driver_franka_example.py

@@ -0,0 +1,28 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+import os
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='sas_robot_driver_franka',
+            executable='sas_robot_driver_franka_node',
+            name='arm3',
+            parameters=[{
+                "robot_ip_address": "172.16.0.4",
+                "thread_sampling_time_sec": 0.004,
+                # "thread_sampling_time_nsec": 4000000,
+                "q_min": [-2.3093,-1.5133,-2.4937, -2.7478,-2.4800, 0.8521, -2.6895],
+                "q_max": [ 2.3093, 1.5133, 2.4937, -0.4461, 2.4800, 4.2094,  2.6895],
+                "force_upper_limits_scaling_factor": 4.0,
+                "upper_torque_threshold": [40.0, 40.0, 40.0, 40.0, 40.0, 40.0, 40.0],
+                "upper_force_threshold": [40.0, 40.0, 40.0, 40.0, 40.0, 40.0],
+                "robot_mode": "VelocityControl",
+                "robot_parameter_file_path": os.environ["ROBOT_3_JSON_PATH"]
+            }],
+           output="screen"
+        ),
+
+    ])
+

launch/sas_robot_driver_franka_hand_example.py

@@ -0,0 +1,24 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+import os
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='sas_robot_driver_franka',
+            executable='sas_robot_driver_franka_hand_node',
+            name='arm3_hand',
+            parameters=[{
+                "robot_ip_address": "172.16.0.2",
+                # "thread_sampling_time_nsec": 20000000,  # 20ms , 50Hz
+                "thread_sampling_time_sec": 0.02,
+                "default_force": 2.0,
+                "default_speed": 0.07,
+                "default_epsilon_inner": 0.007,
+                "default_epsilon_outer": 0.007,
+            }],
+            output="screen"
+        ),
+
+    ])