Software Development Kit for Robot Learning Lab (RLL) projects

• 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

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.

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

The description, control and Gazebo config was inspired by the iiwa stack.