iiwa_tutorials

ROS package for KUKA LBR iiwa 14 R820 tutorial.
Docker for simulation and control environments for KUKA LBR iiwa 14 R820.

Dependencies

Docker build environments

Ubuntu 22.04 PC
- Docker 26.1.1
- Docker Compose 2.27.0

LBR iiwa 14 R820

Installation

Follow iiwa_stack wiki to setup a package with Sunrise Workbench
Connect an Ethernet cable between the host computer and the Ethernet port of controller
Set the network configuration as below
- The ros node expects to reach the robot at the IP 172.31.1.147
- The ROS nodes on the robot side expects to reach the ROS master at the IP 172.31.1.150
- This is set with the pendant as below
- The ROS_IP and ROS_MASTER_URI must be set as below in .bashrc

Build the docker environment as below (if you use the docker, this must be set in docker container)

sudo apt install byobu && git clone git@github.com:takuya-ki/iiwa_tutorials.git --depth 1 && cd iiwa_tutorials && COMPOSE_DOCKER_CLI_BUILD=1 DOCKER_BUILDKIT=1 docker compose build --no-cache --parallel

Usage with docker

Using utility scripts

Build and run the docker environment

Create and start docker containers in the initially opened terminal
```
docker compose up
```

roscore on the host machine or in the docker container

This application requires having a ROS Master running on the ROS machine connected to the cabinet. (iiwa_stack wiki)

Simulation

Run a demonstration on the host machine

Executing a pick-and-place demonstration
```
./utils/iiwa_pp_fake.sh
```
- Initialize the eef pose
```
initialize
```
- Demonstrate pick-and-place of a object
```
pp
```

Real robot

Run the application ROSSmartServo on the KUKA Smartpad
Run a demonstration on the host machine

Testing the moveit with GUI

xhost + && docker exec -it iiwa_container bash -it -c "roslaunch iiwa_tool_moveit moveit_planning_execution.launch sim:=false"

Executing a wiggle demonstration

xhost + && docker exec -it iiwa_container bash -it -c "rosrun iiwa_tutorials wiggle"

Executing a repetitive motion

xhost + && docker exec -it iiwa_container bash -it -c "rosrun iiwa_tutorials sendmotion_loop"

Executing a repetitive linear motion

xhost + && docker exec -it iiwa_container bash -it -c "rosrun iiwa_tutorials sendmotion_loop_lin"

Executing a repetitive motion with ROS Action

xhost + && docker exec -it iiwa_container bash -it -c "rosrun iiwa_tutorials sendmotion_loop_action"

Executing a pick-and-place demonstration
```
./utils/iiwa_pp.sh
```
- Initialize the eef pose
```
initialize
```
- Demonstrate pick-and-place of a object
```
pp
```

Successfull termination

Terminate the demonstration
Stop the application ROSSmartServo on the pendant
In the end, kill the roscore process if you need

Manually execute commands

Build and run the docker environment

Create and start docker containers in the initially opened terminal
```
docker compose up
```

Execute the container in another terminal

xhost + && docker exec -it iiwa_container bash

Run a demonstration in the container
```
byobu
```
- First command & F2 to create a new window & Second command ...
- Ctrl + F6 to close the selected window

Author / Contributor

Takuya Kiyokawa

We always welcome collaborators!

License

This software is released under the MIT License, see LICENSE.