iiwa_toolkit

This is a toolbox to control KUKA LBR iiwa in task space. It provides controller to compliantly control the end-effector of the robot.

Requirements

iiwa_toolkit requires only one package to be installed in order to work properly:

• [ROS] - ROS: tested in Melodic and Kinetic; Indigo should work also
• [iiwa_ros]{https://github.com/epfl-lasa/iiwa_ros}

Compilation

cd /path/to/ros_workspace
# source ros workspace
catkin_make

Basic Usage

Bringup iiwa_driver

To launch passive tracker either in position or orientation or velocity

roslaunch iiwa_toolkit passive_track_real.launch

Gazebo Simulation

To launch passive tracker either in position or orientation or velocity

roslaunch iiwa_toolkit passive_track_gazebo.launch

Both of the above commands will launch IIWA in torque-control mode. To change the control mode (e.g., position-control), please edit the launch files to select the appropriate controller.

Contributing

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Acknowledgements

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Authors/Maintainers

• Farshad Khadivar ([email protected])