Integration of Kuka KR16 with KRC2 controller
Hey
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 ( https://github.com/ros-industrial/kuk... ) 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?
@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.