/trajectory-generator

KUKA LWR Tools

Primary LanguageC++

General notes

Generate typekit using the following command:

typegen -o kuka_typekit kuka_typekit lwr_fri/include/friComm.h -t mqueue

We assume that you put your friComm.h header file inside lwr_fri/include.

Documentation can be generated using rosdoc in the trajectory_generator directory rosrun rosdoc rosdoc trajectory_generator.

About the use of the TrajectoryGenerator component

Solo Mode

Run the TrajectoryGenerator and visualize the robot maneuvers in rviz ROS package without connecting it to the real robot.

Procedure:

  • roscore
  • roslaunch re_kuka visualize.launch
  • cd trajectory_generator/deploy
  • ./run.sh TrajectoryGeneratorSim_jntPosInput.xml

Then run:

  • rosrun poseToOrocos poseSingle (poseLoop, jntPosSingle, jntPosLoop) to issue commands to the robot from ROS

FRI Mode

Run the TrajectoryGenerator and visualize the robot maneuvers in rviz ROS package while sending commands to the real robot via FRIComponent.

Procedure:

  • roscore
  • roslaunch trajectory_generator visualize.launch
  • cd trajectory_generator/deploy
  • ./runFRI.sh

Then run:

  • rosrun poseToOrocos poseSingle (poseLoop, jntPosSingle, jntPosLoop) to issue commands to the robot from ROS

General Notes

To compile everything, use rosmake kuka_IK poseToOrocos re_kuka trajectory_generator lwr_fri