• 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： if true, use pedestal instead of simple robot, default true.

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.

• dual_ur