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Integration of Kuka KR16 with KRC2 controller

asked 2016-12-08 10:37:15 -0500

ccopot gravatar image


Recently I have started working with ROS and RSI (so I am new in this) to control a Kuka KR16-2 robot with KRC2 controller. We just installed the KSS 5.6 and RSI 2.3. I have looked on the ROS support and I found the Kuka Experimental which integrate the robot KR16, but the files for the rsi_hw_interface ( ) are for the KRC4 controller.

I understood that for KRC4 is using the RSIVisual which (of-course) are not compatible with KRC2 (e.g. in KRC2 the folder C:\KRC\ROBOTER\Config\User\Common does not exist; RSI_CREATE is not a valid command; etc.) and that I need to convert the files from KRC4 back to KRC2. However, sine I am a baby in this I do not know from where to start and where to stop. Is there someone still working with KRC2 controller and ROS? Can you share with me the files for KRC2?

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@ccopot: please don't post answers unless you are actually answering your own question. On ROS Answers things are a little different from a regular forum: instead of a chronological list of posts, it's a 1-to-1 question-answer system. Comments may be used for discussion / short remarks. Thanks.

gvdhoorn gravatar image gvdhoorn  ( 2016-12-09 03:26:23 -0500 )edit

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answered 2016-12-08 12:25:29 -0500

ivareri gravatar image


I have a PR against kuka_experimental that adds support for KRC2. It works for me, but as far as i know it has not been tested by anyone else. Would be great if you can test this and see if it works.

Some warnings:
Using RSI the robot can move at full speed in teach mode.
Set the HOME and upper\lower bound variables to something suitable for your setup. They are in the configuration fold of ros_rsi.src

PR is at

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answered 2016-12-08 12:49:10 -0500

gvdhoorn gravatar image

Take a look at ros-industrial/kuka_experimental#74. It adds KR C2 support to the kuka_rsi_hw_interface component (more precisely: the RSI parts).

I haven't used it myself (yet), so let us know if/when you get things to work.

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Thank you for your fast reply and for the PR. In the coming days I will test it and I will let you know what I find and if it works

ccopot gravatar image ccopot  ( 2016-12-09 01:08:41 -0500 )edit

I have tested the RSI for the Kuka KRC2 controller and it works perfectly. Thank you for sharing with me the files.

ccopot gravatar image ccopot  ( 2016-12-15 01:59:50 -0500 )edit

If you could comment on the Pull Request on github, that would be much appreciated.

gvdhoorn gravatar image gvdhoorn  ( 2016-12-15 02:18:19 -0500 )edit

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Asked: 2016-12-08 10:37:15 -0500

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Last updated: Dec 09 '16