KukaRosOpenCommunication

Allows controlling KUKA Robot without additional technology package.

About KukaRosOpenCommunication

KukaOpenCommunication is an open-source interface that allows controlling Kuka robots by using Robot Operating System without requirement of an additional technology package. This interface was developed based on OpenShowVar[1] and JOpenShowVar[2] projects. It is compatible for KRC4 controllers.

Maintainer: Aytaç Kahveci
Mail: aytackahveci93@gmail.com

Demo Video : https://www.youtube.com/watch?v=UnocwVtGvZc

References

[1]OpenShowVar project: https://github.com/cyberpro4/openshowvar
[2]JOpenShowVar project: https://github.com/aauc-mechlab/JOpenShowVar

Usage of the KukaRosOpenCommunication Interface

• First you should open the port 7000 for communication in the KRC controller. SmartHMI -> Network configuration -> NAT -> Add port -> Port number 7000 and Permitted protocols: tcp/udp

• Make sure that the Windows interface of the controller and the PC with ROS is connected to the same subnet.

• Coppy paste the KUKAVARPROXY folder to somewhere in the Windows environment and run KUKAVARPROXY.exe

• Change the "Robot_IP" parameter for your robot inside the KukaRosOpenCommunication/blob/master/kuka_moveit_configuration/config/controller.yaml file.

• Create a MYAXIS variable inside the KRC:\System$config.dat. Make sure that initial joint positions of the MYAXIS variable is appropriate for your case.

    DECL AXIS MYAXIS={A1 0,A2 -90,A3 90,A4 0,A5 0,A6 0}
  

• Write a module

    INI
    PTP HOME Vel = 100 % DEFAULT
  
    LOOP
    	PTP MYAXIS C_PTP
    ENDLOOP
    PTP HOME Vel = 100 % DEFAULT
  

• Select and run this module. It is offered to run the robot in T1 mode for the first run!

• Launch the /KukaRosOpenCommunication/blob/master/kuka_moveit_configuration/launch/demo.launch

• You can plan the motion of the KUKA robot with MoveIt! package.