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https://github.com/IFL-CAMP/iiwa_stack

ROS integration for the KUKA LBR IIWA R800/R820 (7/14 Kg).
https://github.com/IFL-CAMP/iiwa_stack

iiwa kuka ros

Last synced: 3 months ago
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ROS integration for the KUKA LBR IIWA R800/R820 (7/14 Kg).

Host: GitHub
URL: https://github.com/IFL-CAMP/iiwa_stack
Owner: IFL-CAMP
License: other
Created: 2015-11-11T11:05:15.000Z (about 9 years ago)
Default Branch: master
Last Pushed: 2024-03-21T16:48:08.000Z (8 months ago)
Last Synced: 2024-07-16T12:02:37.880Z (4 months ago)
Topics: iiwa, kuka, ros
Language: Java
Homepage:
Size: 54.2 MB
Stars: 328
Watchers: 31
Forks: 248
Open Issues: 103
Metadata Files:
- Readme: README.md
- Changelog: CHANGELOG.txt
- License: LICENSE

Awesome Lists containing this project

README

        ## IIWA STACK

ROS Indigo/Kinetic metapackage for the KUKA LBR IIWA R800/R820 (7/14 Kg).

**Current version : v-1.3.0 for Sunrise 1.10 - 1.16**    

[Using a previous version of Sunrise?](https://github.com/SalvoVirga/iiwa_stack/wiki/FAQ#which-version-of-sunriseossunrise-workbench-is-supported)    

[![Build Status](https://dl.circleci.com/status-badge/img/gh/IFL-CAMP/iiwa_stack/tree/master.svg?style=svg)](https://dl.circleci.com/status-badge/redirect/gh/IFL-CAMP/iiwa_stack/tree/master)

___

### Features

- Native ROSJava nodes running on the robot as a Sunrise RoboticApplication: supports ROS parameters, topics, services, etc.

- Integration of KUKA's SmartServo and PTP motions:

  - joint position, joint velocity and cartesian position control via simple ROS messages. 

  - online configuration of JointImpedance, CartesianImpedance, DesiredForce and Sine(Force)Pattern via ROS service.

  - online configuration of joint/cartesian velocity and acceleration via ROS service.

  - updates on the time left to reach the commanded destination via ROS service.

- Selection of the tool and endframe to use via ROS parameters and services.

- 'Fake' hand-guidance mode.

- NTP synchronization with a server running on the ROS master

- full MoveIt! integration

- Gazebo support

___

### Usage

__The features and usage of the stack are described in depth on its  [WIKI][8].__  

We **_strongly_** suggest to have a look at the wiki to have a better understanding of the code, both for its use and its extension.     

Do you have problems? First, please check the [**FAQs**](https://github.com/SalvoVirga/iiwa_stack/wiki/FAQ). Issues or emails are always welcome!

___

### Citation

If you use iiwa_stack for reseach, you could cite the following work. It is the first publication where it was used.

    @article{hennersperger2017towards,

      title={Towards MRI-based autonomous robotic US acquisitions: a first feasibility study},

      author={Hennersperger, Christoph and Fuerst, Bernhard and Virga, Salvatore and Zettinig, Oliver and Frisch, Benjamin and Neff, Thomas and Navab, Nassir},

      journal={IEEE transactions on medical imaging},

      volume={36},

      number={2},

      pages={538--548},

      year={2017},

      publisher={IEEE}

    }

___

### Acknowledgements

This repository takes inspiration from the work of :

- _Centro E. Piaggio_ and their [ROS interface for the KUKA LBR 4+][1]

- _Mohammad Khansari_ and his [IIWA-ROS communication inteface][2] 

- _Robert Krug_ and his [IIWA URDF and Gazebo package][7]      

Most of the original files were completely refactored though.

### Contacts

[![TUM](http://campar.in.tum.de/files/goeblr/TUM_Web_Logo_blau.png "TUM Logo")](http://www.tum.de)      

[Chair for Computer Aided Medical Procedures](http://campar.in.tum.de/)      

[Technical University of Munich](http://www.tum.de), Germany.      

Salvatore Virga : [[email protected]](mailto:[email protected])      

Marco Esposito : [[email protected]](mailto:[email protected]) 

[1]: https://github.com/CentroEPiaggio/kuka-lwr

[2]: https://bitbucket.org/khansari/iiwa.git

[3]: https://bitbucket.org/khansari/iiwa/src/c4578460d79d5d24f58bf94bd97fb6cb0b6f280f/msg/IIWAMsg.msg

[4]: https://bitbucket.org/khansari/iiwa/wiki/Home

[5]: https://bitbucket.org/khansari/iiwa/src/c4578460d79d5d24f58bf94bd97fb6cb0b6f280f/JavaNode/?at=master

[6]: http://git.lcsr.jhu.edu/cgrauma1/kuka_iiwa_shared

[7]: https://github.com/rtkg/lbr_iiwa

[8]: https://github.com/SalvoVirga/iiwa_stack/wiki