pucciland95 / kuka_drivers_polimi

Repository containing ROS2 drivers for multiple KUKA robots

ROS2 KUKA Drivers

This repository contains ROS2 drivers for all KUKA operating systems.

Github CI	SonarCloud

Requirements

The drivers require a system with ROS installed. It is recommended to use Ubuntu 22.04 with ROS humble. Iron Irwini has breaking changes in the moveit API, thus it is not yet supported. It is also recommended to use a client machine with a real-time kernel, as all three drivers require cyclic, real-time communication. Due to the real-time requirement, Windows systems are not recommended and covered in the documentation.

Installation

The driver is not available as a binary package, building from source is necessary.

Create ROS2 workspace (if not already created).

mkdir -p ~/ros2_ws/src

Clone KUKA ROS2 repositories.

cd ~/ros2_ws/src
git clone https://github.com/kroshu/kuka_drivers.git
vcs import < kuka_drivers/upstream.repos

Install and initialize rosdep (if not already done)

sudo apt install python3-rosdep
sudo rosdep init

Install dependencies using rosdep.

cd ~/ros2_ws
rosdep update
sudo apt upgrade
rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y

Build KUKA packages.

cd ~/ros2_ws
colcon build

Source built KUKA packages.

# Replace ".bash" with your shell if you're not using bash
# Possible values are: setup.bash, setup.sh, setup.zsh
source ~/ros2_ws/install/setup.bash

Getting Started

Documentation of this project can be found on the repository's Wiki page.

If you find something confusing, not working, or would like to contribute, please read our contributing guide before opening an issue or creating a pull request.