- dual_iiwa_description: a URDF for a KUKA LBR IIWA robot and a universal robot (default: iiwa7 and ur5).
- dual_iiwa_moveit_config: a MoveIt! package to work with the robot description just defined.
- dual_iiwa_bringup: a package to bringup the iiwa and ur union.- dual_iiwa_gazebo: a package simulate motion in gazebo for the union.
- iiwa_stack: ROS integration for the KUKA LBR IIWA R800/R820 (7/14 Kg).
ROS Melodic and Noetic (tested).
After installing all the dependencies, you can:
-
Only visualize in RVIZ:
roslaunch dual_iiwa_moveit_config demo.launch
- Real robot control:
-
please make sure that iiwa and ur are in the same subnet. eg. iiwa:
172.31.1.147
, ur:172.31.1.12
. -
roslaunch the integrated launch file
roslaunch dual_iiwa_moveit_config moveit_planning_execution.launch sim:=false ur_ip:=<your_ur_ip>
The rqt_graph:
- Simulate in Gazebo:
roslaunch dual_iiwa_moveit_config moveit_planning_execution.launch sim:=true
The rqt_graph:
some other options may be used:
-use_pedestal
๏ผ if true, use pedestal instead of simple robot, defaulttrue
.
More options info can be checked in launch files.
## Other Branches
This branch master
holds iiwa and ur in two different namespace, if you prefect a unified namespace version, you can try this branch all-in-one-namespace, whose almost all nodes and topics are included in a same namespace, dual_arm
by default.