This repository contains ROS2 drivers for all KUKA operating systems.
| Github CI | SonarCloud |
|---|---|
 |
The drivers require a system with ROS installed. It is recommended to use Ubuntu 22.04 with ROS humble. Iron Irwini has breaking changes in the moveit API, thus it is not yet supported. It is also recommended to use a client machine with a real-time kernel, as all three drivers require cyclic, real-time communication. Due to the real-time requirement, Windows systems are not recommended and covered in the documentation.
The driver is not available as a binary package, building from source is necessary.
Create ROS2 workspace (if not already created).
mkdir -p ~/ros2_ws/srcClone KUKA ROS2 repositories.
cd ~/ros2_ws/src
git clone https://github.com/kroshu/kuka_drivers.git
vcs import < kuka_drivers/upstream.reposInstall and initialize rosdep (if not already done)
sudo apt install python3-rosdep
sudo rosdep initInstall dependencies using rosdep.
cd ~/ros2_ws
rosdep update
sudo apt upgrade
rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO -yClone and build kuka-external-control-sdk in a different workspace.
- This library is necessary for the iiQKA ExternalAPI.Control driver
- The library is not a ROS2 package, therefore a different workspace is necessary, otherwise colcon will fail to build it
- To install dependencies for your platform, check out the Requirements section of the kuka-external-control-sdk documentation.
mkdir -p ~/sdk_ws/src
cd ~/sdk_ws/src
git clone https://github.com/kroshu/kuka-external-control-sdk.git
mkdir -p ~/sdk_ws/src/kuka-external-control-sdk/kuka-external-control-sdk/build
cd ~/sdk_ws/src/kuka-external-control-sdk/kuka-external-control-sdk/build
cmake ..
make installBuild KUKA packages.
cd ~/ros2_ws
colcon buildSource built KUKA packages.
# Replace ".bash" with your shell if you're not using bash
# Possible values are: setup.bash, setup.sh, setup.zsh
source ~/ros2_ws/install/setup.bashDocumentation of this project can be found on the repository's Wiki page.
If you find something confusing, not working, or would like to contribute, please read our contributing guide before opening an issue or creating a pull request.