3.2 Use with real hardware

In addition to the steps in 3.1, the kuka_kvp_hw_interface package must be installed even if you only plan to use the RSI interface as it adds support for the toolchanger.

Using RSI:

1. roslaunch robotlab_moveit_config moveit_planning_execution_rsi.launch sim:=false
2. Start the ros_rsi.src on the KRC
3. Enable drives by pressing the (I) button on the KCP
4. Press the green "step forward" button on the KCP until the program reaches a point where it runs by itself (usually at the ST_MOVESENS line)

The KRC errors are a bit cryptic. If it complains about an error when creating hEthernet, this is most likely because something is wrong on the ROS side. Check that you got the "Waiting for robot!" line in the ROS output.

Using KVP

1. roslaunch robotlab_moveit_config moveit_planning_execution_kvp.launch sim:=false
2. Start the ros_rsi.src on the KRC
3. Enable drives by pressing the (I) button on the KCP
4. Press the green "step forward" button on the KCP until the program reaches a point where it runs by itself (usually at a PTP AXIS_SET line)