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fzi-forschungszentrum-informatik · Nov 22, 2024 · 8d5a0a7 · 8d5a0a7
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diff --git a/.clang-format b/.clang-format
@@ -0,0 +1,94 @@
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diff --git a/.clang-tidy b/.clang-tidy
@@ -0,0 +1,166 @@
+---
+Checks: '
+  bugprone-*,
+  clang-analyzer-*,
+  clang-diagnostic-*,
+  modernize-*,
+  performance-*,
+  readability-*,
+  -modernize-use-trailing-return-type,
+  -readability-avoid-const-params-in-decls,
+  -readability-implicit-bool-conversion,
+  -readability-magic-numbers,
+  '
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diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -0,0 +1,22 @@
+---
+exclude: "kuka_rsi_driver/krl/"
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.1.0
+    hooks:
+      - id: check-added-large-files
+      - id: check-case-conflict
+      - id: check-merge-conflict
+      - id: check-symlinks
+      - id: check-xml
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+      - id: trailing-whitespace
+      - id: fix-byte-order-marker  # Forbid UTF-8 byte-order markers
+  - repo: https://github.com/pocc/pre-commit-hooks.git
+    rev: v1.3.5
+    hooks:
+      - id: clang-format
+      - id: clang-tidy
+        args:
+        - --version=18
diff --git a/LICENSE b/LICENSE
@@ -0,0 +1,25 @@
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+   * Redistributions of source code must retain the above copyright
+     notice, this list of conditions and the following disclaimer.
+
+   * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+
+   * Neither the name of the copyright holder nor the names of its
+     contributors may be used to endorse or promote products derived from
+     this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.
diff --git a/README.md b/README.md
@@ -0,0 +1,40 @@
+# kuka_rsi_driver
+
+This repository provides a [ros2_control](https://control.ros.org) based driver for kuka industrial
+robot arms using the RSI protocol.
+
+---
+**NOTE**
+
+This driver was tested on a limited set of robots (see [Tested with](#tested-with) section), but has to be considered experimental. In particular, the chosen communication structure should be more robust against disturbances, but is not thoroughly vetted.
+
+---
+
+## Packages in the Repository
+
+  - `kuka_rsi_driver`: The `ros2_control` hardware interface for communicating with the robot.
+  - `kuka_rsi_controllers`: Controllers for interfacing with vendor-specific functions of the robot.
+  - `kuka_rsi_interfaces`: Interface definitions used in `kuka_rsi_controllers`.
+
+## Getting Started
+
+This driver only provides an implementation of the robot realtime communication, but no specific robot support package. Take a look at [the documentation](kuka_rsi_driver/doc/index.rst) for informations on how to get started and integrate it into an existing setup.
+
+## Features
+
+This driver provides the following features:
+- Joint position control and feedback.
+- Publishing of joint torques.
+- Publishing of Cartesian TCP pose.
+- Speed scaling using slider on teach pendant (see KRL `$OV_PRO` variable).
+- Robust fully asynchronous real-time communication.
+
+## Tested With
+
+So far, the driver was tested with the following robot models:
+* **Agilus KR 10 R900 sixx** (KR C4 Controller)
+* **IONTEC KR50 R2100** (KR C5 Controller)
+
+## Acknowledgements
+
+Development of this driver was in parts supported by the project "GANResilRob - Generative Adversarial Networks and Semantics for Resilient, Flexible Production Robots", funded by the German Federal Ministry for Economic Affairs and Climate Action.