ecdeng/kinova_ws

kinova_ws

Workspace for Kinova Gen3 arm--to be updated as more support from Kinova rolls out. Currently built and run on Ubuntu 16.04 and ROS Kinetic Kame.

1. Get control loop parameters
2. Set control loop parameters
3. Play cartesian
4. Play cartesian position
5. Get sensor settings
6. Read all devices
7. System Setup

System Setup

Install system dependencies and test system setup.

• Kinova KORTEX API (https://github.com/Kinovarobotics/kortex)
• KINOVA ROS_KORTEX PACKAGE
• Google

To run this example, those node need to be running:

• kortex_device_manager (rosrun kortex_device_manager kortex_device_manager 192.168.1.10)
• kortex_actuator_driver (rosrun kortex_actuator_driver kortex_actuator_driver 192.168.1.10 100)

* Note here that the address 192.168.1.10 is the default IP address of a robot but you can put any IP address that suits your need.

To run the example:

rosrun kortex_examples GetControlLoopParameters

Get control loop parameters

Gets the control loop parameters from an actuator that is part of a Gen3 robot.

To run this example, those node need to be running:

• kortex_device_manager (rosrun kortex_device_manager kortex_device_manager 192.168.1.10)
• kortex_actuator_driver (rosrun kortex_actuator_driver kortex_actuator_driver 192.168.1.10 100)

* Note here that the address 192.168.1.10 is the default IP address of a robot but you can put any IP address that suits your need.

To run the example:

rosrun kortex_examples GetControlLoopParameters