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Hi,

I want to setup the new KUKA LBR iiwa arm for (soft) real-time control (at around 100 Hz for now) in Gazebo and on the actual robot. I was thinking of using ros_control and I'm interested in weather somebody already has a similar setup (HW-interface, URDF/SDF model ...) or is working on it since I couldn't find anything for to the LBR iiwa online.

Thanks and all the best,

-Robert-


Originally posted by Robert Krug on ROS Answers with karma: 225 on 2014-12-01

Post score: 1


Original comments

Comment by Robert Krug on 2014-12-05:
Update: I made a URDF description of the arm which can be found here. I am still interested in hints for the control setup though ...

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Hi Robert,

have you seen this? https://bitbucket.org/khansari/iiwa/src

looks like it is currently used, so I assume it is in a working state: https://bitbucket.org/samirmenon/scl-manips-v2/wiki/iiwa/iiwa_main


Originally posted by marcoesposito1988 with karma: 191 on 2015-01-26

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Comment by Robert Krug on 2015-02-11:
Thanks, we have a similar solution using the Connectivity Servoing and ros_control right now. One of the issues we have, is that we need velocity control for which there's no interface provided by KUKA. Any input/discussion on how to achieve this would be appreciated.

Comment by Hououin Kyouma on 2015-04-21:
Hi,

I'm currently trying to use the first link, but I get stuck at running the Kuka Hardware Manager. It says "Assignment not possible while KS is running", do you guys have the same problem? If you're using the same thing, that is?

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Even if there is no open-source ros_control bindings for the LBR iiwa, you can still make good progress on your own. For the Gazebo bindings, try to leverage the existing plugins available in the gazebo_ros_control package. For the hardware bindings, you will have to expose to a hardware_interface::RobotHW the raw data made available by the manufacturer's API for at least reading state and writing commands. You might also want to handle emergency or protective stops.

Update: there is this open-source alternative, just out of the oven: https://github.com/CentroEPiaggio/kuka-lwr


Originally posted by Adolfo Rodriguez T with karma: 3907 on 2015-01-23

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Original comments

Comment by Robert Krug on 2015-02-11:
Yes, we're currently working on a hardware interface to connect to the robot which can be found on the repository mentioned above (under heavy development right now though).Thanks for the link, it seems to be for the previous model, the LWR 4 though, not for the new LBR iiwa.

Comment by carlosjoserg on 2015-04-22:
True, for the LWR 4+. Just to say, we found more useful creating a custom plugin (of course, using the gazebo_ros_control plugin as a template) to add stuff to the sim interface, see our suggested class hierarchy: https://github.com/CentroEPiaggio/kuka-lwr/tree/multi-robot-test/lwr_hw/include/lwr_hw

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