Can ROS "KRC4 6axis kuka palletizing robot" ?

asked 2015-03-16 16:30:56 -0500

jyothi
1 ●1 ●1 ●1

updated 2015-03-17 03:31:16 -0500

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

hello,

I am sure, It is a very basic question. As a part of my Master thesis, I am looking forward to control 6xis Kuka palletizing robot through KRC4 controller. I would like to know, Whether it is possible. I would be glad, if someone could actually just throw me an insight on implementing ROS. Infact, I have read about steps like

creating URDF file defining robot
create connection to the controller.
communicate to message/action request
use moveit for path planning.

But, it is still confusing for me. I wish someone will respond.

Thanks, Jyothi

answered 2015-03-17 03:30:29 -0500

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

updated 2018-05-08 08:57:01 -0500

Within ROS-Industrial we've recently setup a KUKA Special Interest Group. One of the efforts there is integration of a RSI based ros_control compatible driver. It is currently being reviewed, and we expect to merge it soon. See ros-industrial/kuka_experimental#13.

That driver would provide you with the required interfaces for controlling it with MoveIt, so you'd have steps 2 & 3 already done.

The kuka_experimental repository also contains some support pkgs (urdfs and more), which you could perhaps use as a starting point. That would be step 1 of your list. If you do need to create a new urdf, the Create a URDF for an Industrial Robot tutorial should be helpful.

For creating a MoveIt package (required for step 4), we have Create a MoveIt Package for an Industrial Robot.

As for general tutorials on how to use ROS & MoveIt with industrial robots, see the ROS-Industrial Training Exercises.

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Thank a lot for your clear explanation based on my steps. Could you explain me or direct me to a link. to understand how I could communicate with kuka controller with ROS.

jyothi ( 2015-03-17 07:32:48 -0500 )edit

I think I linked you to all the relevant pages / packages already. You'll have to do some reading up on MoveIt, ros_control and general ROS I think, but other than that everything seems to already be there.

gvdhoorn ( 2015-03-17 07:56:00 -0500 )edit

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