Connect ROS with a KUKA manipulator

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Ros industrials KUKA package already has an almost ready to use RSI hardware interface which you could use.

First of all you should learn about the ways you can communicate with your robot. As for RSI you would have to buy the software package if you don't have it.

The other two types of interfaces, EKI and mxAutomation aren't impossible to use, but don't quite harmonize with moveit.

So here is the basic procedure: Below diagram shows how ros control (diff drive controller, joint trjaectory controller, joint position/velocity controller) can be easily used in between both real hardware and simulated hardwre (gazebo): 1. See if Kuka KR5 already provides any ROS package as hardware interface, if yes jsut using that will sove all issue 2. If not, than you will have to implement custom hardware_interface for your Kuka KR5 robot so that your ros controller eg. joint trajectory controller can control it through moveit in your case. Here is the link/tutorial in which you can create your own hardware interface any robot in real = Here