https://github.com/kitrobotics/rll_sdk

The SDK for the KUKA Robot Learning Lab at KIT
https://github.com/kitrobotics/rll_sdk

iiwa kinematics kuka motion-planning robotics ros

Last synced: 6 months ago
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The SDK for the KUKA Robot Learning Lab at KIT

• Host: GitHub
• URL: https://github.com/kitrobotics/rll_sdk
• Owner: KITrobotics
• License: gpl-3.0
• Created: 2018-06-07T12:18:53.000Z (over 7 years ago)
• Default Branch: master
• Last Pushed: 2024-02-06T14:17:44.000Z (over 1 year ago)
• Last Synced: 2025-04-02T04:23:01.500Z (6 months ago)
• Topics: iiwa, kinematics, kuka, motion-planning, robotics, ros
• Language: C++
• Homepage: https://rll.ipr.iar.kit.edu
• Size: 12.8 MB
• Stars: 19
• Watchers: 4
• Forks: 10
• Open Issues: 2
• Metadata Files:
  • Readme: README.md
  • Contributing: CONTRIBUTING.md
  • License: LICENSE.txt

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README

          
# Robot Learning Lab SDK

Software Development Kit for Robot Learning Lab (RLL) projects

## Components

- Model of a RLL robot work cell

- Gazebo, MoveIt! and ROS Control configuration

- Documentation of the web API

- Standardized runner for all projects

- Move Interface for controlling the robot

  - Ability to send joint or cartesian goal positions

  - Support for pick and place tasks

  - Cartesian or point to point trajectories possible

  - Usable as a base for project-specific interfaces

## Usage

The SDK is intended to be used as a dependency of a RLL project. All components are ROS packages and can be built using Catkin.

The Gazebo simulation can be launched together with MoveIt! and an Rviz visualization using

    roslaunch rll_moveit_config moveit_planning_execution.launch

The Move Interface is started with

    roslaunch rll_move move_iface.launch

Move services are available in the `/iiwa/` namespace, e.g. `/iiwa/pick_place` or `/iiwa/move_lin`.

If you want to improve the web API description, have a look at the [ReadMe](docs/api/README.md).

## ROS Kinetic gotchas

Some of the python packages use the `typing` module which cannot be installed via rosdep on Kinetic. You need to install it manually by running:

  pip install typing

## Acknowledgements

The description, control and Gazebo config was inspired by the [iiwa stack](https://github.com/IFL-CAMP/iiwa_stack).