ROS package for running joint position simulation of the Kuka KR6 R900 sixx within Gazebo.
This package is inspired by work conducted by Sebastian Nagel, which in turn is based on work by Mark Culleton and Kevin Kelly.
https://github.com/SebNag/kuka_kr6r900sixx_moveit_gazebo_setup
https://github.com/ros-industrial/abb_experimental
The following is assuming a working ROS setup. Otherwise check out the article on ros.org on installing and configuring your ROS environment
cd <path to catkin workspace>/src
git clone git@github.com:skrede/kuka_gazebo.git
cd kuka_gazebo
catkin buildStart the package by running
roslaunch kuka_gazebo kr6_r900sixx_gazebo_joint_control.launch
The robot can be actuated within Gazebo by sending joint setpoints via the topics /joint_a{n}_position_controller/command
The KR 6 Agilus has six joints, and as such the topics are
/joint_a1_position_controller/command
/joint_a2_position_controller/command
/joint_a3_position_controller/command
/joint_a4_position_controller/command
/joint_a5_position_controller/command
/joint_a6_position_controller/command
Test the package by opening a terminal and publish a joint setpoint
rostopic pub -1 /joint_a1_position_controller/command std_msgs/Float64 "data: 1.57"
It should now move in Gazebo.