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