• Unfortunately, we can not provide the code of KUKA FRI and iiwas_driver package for real robot usage. If you want to use real robot, please contact KUKA for the package.

Prerequisite

Make sure you have installed ROS and create a new catkin workspace. Additionally, to the full desktop version of ROS, the following ROS packages are needed: joint-trajectory-controller, pinocchio Install prerequisite packages as

sudo apt-get install ros-[DISTRO]-joint-trajectory-controller ros-[DISTRO]-rqt-joint-trajectory-controller ros-[DISTRO]-pinocchio

Installation

Clone the repository into the src folder of your catkin workspace. Build the package with Release mode

catkin_make -DCMAKE_BUILD_TYPE=Release

Usage

Starting up the gazebo simulation

roslaunch iiwas_gazebo iiwas_gazebo.launch use_front_iiwa:=[true|false] front_controllers:=[CONTROLLER_TYPE] use_back_iiwa:=[true|false] back_controllers:=[CONTROLLER_TYPE]

Available controllers can be found here in the package [iiwas_control]