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ros package for Kuka LWR IV FRI

asked 2012-11-22 02:26:48 -0500

mr_robotics gravatar image

updated 2014-01-28 17:14:20 -0500

ngrennan gravatar image

Hi everyone,

I would like to know how we can use our Kuka LWR IV as a ROS node. I know that this robot is not in the list of robots that ROS supports, but you can do it through Orocos RTT. Is there any other way to do it? any documentation, tutorial or advice is appreciated.

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answered 2012-11-22 08:30:15 -0500

konradb3 gravatar image

The best way to use KUKA LWR with ros is to use OROCOS which is integrated with ROS. You should look at code in our repos https://github.com/organizations/RCPRG-ros-pkg . An other important thing is that you need to use xenomai if you need command rate below 5ms.

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do I need xenomai or I can use other real time patches for the Linux Kernel? Is orocos somehow bounded to Xenomai?

Risto Kojcev gravatar imageRisto Kojcev ( 2014-06-17 07:14:01 -0500 )edit
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answered 2012-11-22 03:20:23 -0500

ipso gravatar image

While there doesn't appear to be any support for Kuka robots yet, the ROS Industrial 'section' of ROS seems like the best place to look / ask for support. They might be interested in adding support for it, if they are not already working on it.

Using Orocos RTT seems easier than any of the embedded robot languages most of their supported arms use (V+, Karel).

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answered 2015-02-03 05:32:53 -0500

marcoesposito1988 gravatar image

There is a new package for it, even though it is still experimental:

https://github.com/CentroEPiaggio/kuk...

it requires some tuning of the PID gains, but it already brings the robot to life with MoveIt!

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Asked: 2012-11-22 02:26:48 -0500

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Last updated: Feb 03 '15