kuka_idf

Tools developed in the Automatizacion Industrial y Robotica (AIR) labotaroty of Instituto de Diseño y Fabricacion (IDF) at Universitat Politecnica de Valencia (UPV), in order to control and teleoperate the Kuka Agilus KR6 robot, either using the real system or Gazebo simulator.

To build the package in your ROS workspace

catkin_make catkin_make --force-cmake -G"Eclipse CDT4 - Unix Makefiles" -DCMAKE_BUILD_TYPE=Debug

Kuka KR6 simulation (in Gazebo)

Run the following scripts to load the controllers in the simulated robot:

roscore

roslaunch kuka_control demo_kr6_cell.launch gazebo:=true

rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller ns:=kr6 (optional)

Kuka KR6 real (hanged in cell)

Run the following scripts to load the controllers in the real robot:

roscore

roslaunch kuka_control demo_kr6_cell.launch gazebo:=false

rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller ns:=kr6 (optional)

Initialize Kinect drivers and run ICP algorithm for car door matching

roslaunch pcl_icp_matching3d init_cam.launch

rosrun pcl_icp_matching3d multiPC_ICP_multicam_new

Compute surface normal from PointCloud using RealSense D435

roslaunch polish_sr300 demo_surface_normal.launch

Teleoperation using generic gamepad

rosrun kuka_control kr6_hololens.py

roslaunch kuka_teleop teleop_gamepad.launch

Teleoperation using Xbox gamepad and Microsoft HoloLens

roslaunch rosbridge_server rosbridge_websocket.launch