Connect real kuka and moveit by using KRC2
I am looking for a way to connect a real robot to ros and I want to control it with moveit show on rviz. I am using RSI and KRC2 by following steps from kuka_experimental which I have done until the $ rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller
step.
I previously found this interesting thread and tried to follow it, but I still have concerns about robot_interface_streaming.launch from here, it's because as far as I know it was written based on KRC4.