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Quick Setup

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Jgocunha edited this page Apr 1, 2026 · 2 revisions

This page describes the fastest way to start the full system (robot, gripper, vision, and control architecture).

Use this guide if everything is already installed and configured.

Quick Startup Overview

The system startup order is:

  1. Start robot + MoveIt
  2. Start joint control / object detection
  3. Start OnRobot gripper
  4. Set PTU position
  5. Start ZED vision
  6. Start control architecture

1. Start KUKA Robot

Start the robot hardware interface and MoveIt:

ros2 launch kuka_lbr_iiwa14_marlab marlab_hardware.launch.py moveit:=true mode:=hardware model:=iiwa14 rviz:=true

Optional control and object detection nodes:

ros2 launch kuka_lbr_iiwa14_marlab joint_control.launch.py mode:=hardware model:=iiwa14
ros2 launch kuka_lbr_iiwa14_marlab find_object_poses.launch.py mode:=hardware model:=iiwa14

2. Start OnRobot Gripper

Launch the OnRobot driver:

ros2 launch onrobot_driver onrobot_control.launch.py \
    onrobot_type:=rg2 connection_type:=tcp ip_address:=172.31.1.3

Test gripper:

ros2 topic pub --once /onrobot/finger_width_controller/commands \
std_msgs/msg/Float64MultiArray "{data: [0.05]}"

3. Set Pan–Tilt Unit Position

Find PTU device:

sudo dmesg | grep ttyUSB

Add permissions (only once):

sudo usermod -a -G dialout $USER

Connect to PTU:

screen /dev/ttyUSB0 9600

Example tilt command:

TP -800

4. Test the ZED 2i Vision System

Go to:

src/tests/zed-2i/right_arm

Run:

python3 zed_online.py --dev /dev/video4 --size 2560x720 --fps 60 --fmt MJPG \
  --half right --mode both \
  --roi-objects 607,400,235,100 --roi-width-cm-objects 60 \
  --roi-hand    607,350,215,110  --roi-width-cm-hand 60 \
  --only-changes --change-th 6 --show

This starts:

  • Object detection
  • Hand tracking
  • Position estimation in cm

5. Start Control Architecture

Start the robot control architecture:

ros2 launch kuka_lbr_iiwa14_marlab low_level_control_node.launch.py mode:=hardware model:=iiwa14
ros2 launch kuka_lbr_iiwa14_marlab high_level_control_node.launch.py
ros2 run kuka_lbr_iiwa14_marlab vision_processing_node.py

Full System Startup (All Together)

If starting everything from scratch:

ros2 launch kuka_lbr_iiwa14_marlab marlab_hardware.launch.py moveit:=true mode:=hardware model:=iiwa14 rviz:=true

ros2 launch kuka_lbr_iiwa14_marlab joint_control.launch.py mode:=hardware model:=iiwa14

ros2 launch onrobot_driver onrobot_control.launch.py \
    onrobot_type:=rg2 connection_type:=tcp ip_address:=172.31.1.3

ros2 launch kuka_lbr_iiwa14_marlab low_level_control_node.launch.py mode:=hardware model:=iiwa14

ros2 launch kuka_lbr_iiwa14_marlab high_level_control_node.launch.py

ros2 run kuka_lbr_iiwa14_marlab vision_processing_node.py

System is now ready to run experiments.

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