iiwa_ros

ROS Stack for KUKA's IIWA robots

• Use the Fast Research Interface (FRI) to connect to the robot
• Integration with ROS control
• Gazebo integration with gravity compensation (similar to real robot)

Requirements

iiwa_ros requires several packages to be installed in order to work properly:

• ROS - ROS: tested in Melodic and Kinetic; Indigo should work also
• KUKA FRI - This is a modified version of the C++ FRI library provided by KUKA: unfortunately, we cannot release this code, but if you own a KUKA manipulator please contact us in order to acquire this modified library.
• ROS Control
• Gazebo and gazebo-ros-pkgs
• SpaceVecAlg
• RBDyn
• mc_rbdyn_urdf
• corrade
• robot_controllers

Dependencies

KUKA FRI (Private)

cd /source/directory
git clone https://github.com/epfl-lasa/kuka_fri.git
cd kuka_fri
./waf configure
./waf
sudo ./waf install

SpaceVecAlg

cd /source/directory
git clone --recursive https://github.com/costashatz/SpaceVecAlg.git
cd SpaceVecAlg
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release -DENABLE_SIMD=ON -DPYTHON_BINDING=OFF ..
make -j
sudo make install

RBDyn

cd /source/directory
git clone --recursive https://github.com/costashatz/RBDyn.git
cd RBDyn
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release -DENABLE_SIMD=ON -DPYTHON_BINDING=OFF ..
make -j
sudo make install

mc_rbdyn_urdf

cd /source/directory
git clone --recursive https://github.com/costashatz/mc_rbdyn_urdf.git
cd mc_rbdyn_urdf
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release -DENABLE_SIMD=ON -DPYTHON_BINDING=OFF ..
make -j
sudo make install

corrade

cd /source/directory
git clone https://github.com/mosra/corrade.git
cd corrade
mkdir build && cd build
cmake ..
make -j
sudo make install

robot_controllers

cd /source/directory
git clone https://github.com/epfl-lasa/robot_controllers.git
cd robot_controllers
mkdir build && cd build
cmake ..
make -j
sudo make install

Compilation

cd /path/to/ros_workspace
# source ros workspace
catkin_make

Basic Usage

Bringup iiwa_driver

Control IIWA with FRI

roslaunch iiwa_driver iiwa_bringup.launch

This will connect to IIWA robot using FRI.

Gazebo Simulation

To launch Gazebo with IIWA

roslaunch iiwa_gazebo iiwa_gazebo.launch

Both of the above commands will launch IIWA in torque-control mode (with gravity compensation enabled)! To change the control mode (e.g., position), please edit the launch files to select the appropriate controller.

Documentation

UNDER CONSTRUCTION

Contributing

iiwa_ros is being actively developed. Please see CONTRIBUTING for more on how to help.

Acknowledgements

The URDF description files are copied and refactored from iiwa_stack (by Salvatore Virga and Marco Esposito).

Authors/Maintainers

• Konstantinos Chatzilygeroudis ([email protected])
• Bernardo Fichera ([email protected])
• Walid Amanhoud ([email protected])