Quick Setup

This page describes the fastest way to start the robot and run the collaborative packaging task.

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Start Robot and MoveIt

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

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Start Joint Control (optional)

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

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Start Object Pose Detection

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

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Start OnRobot Gripper

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]}"

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Start Vision (ZED 2i)

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

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Start 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

This launches the full system.