ranjitkathiriya / ros2_control_kuka_driver

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WIP ros2_control Kuka Driver

Dependencies:

Compiling:

Please follow the directions here https://github.com/ros-controls/ros2_control_demos to set up ros2_control, ros2_controllers, and ros2_control_demos.

For now the directory structure should look something like this to have everything compile:

colcon_ws/src
|
├── kuka_experimental (https://github.com/dignakov/kuka_experimental)
└── ros2_control_kuka_driver

Kuka Driver:

The minimal ros2 fork of kuka_experimental has a, somewhat rough, adaptation of the RSI simulator. It can be used to test the driver by callig:

ros2 run kuka_rsi_simulator kuka_rsi_simulator

In combination with launching the robot hardware (see https://github.com/ros-controls/ros2_control_demos for details on starting the driver).

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