codewithlennylen / kuka_kvp_hw_interface

ROS KUKA driver using KUKAVARPROXY

kuka_kvp_hw_interface

Package for controlling a KUKA KRC robot from ROS using KUKAVARPROXY

ROS Nodes in this package

• kvp_joint_command_node

  Publishes robot joint states using ROS Controls JointStateHandle Sets robot joints using JointPositionCommand. Works good with JointGroupPosition controller, but might skip trajectory points if used with FollowJointTrajectory controller

• kvp_joint_trajectory_node

  FollowJointTrajectoryAction server. Will follow a trajectory. Prefers spare trajectories to keep execution speed up

• kvp_joint_state_node

  Publies robot joint states using ROS Controls JointStateHandle

• kvp_ftc_node

  For publishing data from a force torque sensor. Sensordata must be stored to a struc on the KRC. Config via parameter server:

  • force_torque_sensor_topic Where to publish WrenchStamped messages. Defaults to ft_sensor/raw
  • force_torque_sensor_frame What frame is the FT-sensor connected to.

• kvp_sws_node

  Service node for controlling toolchanger

  • /get_tool_status Get current status of tool.
  • /lock_tool Locks toolchanger
  • /unlock_tool Unlocks toolchanger