iiwa orcos ros xenomai解决方案

https://github.com/kuka-isir/rtt_lwr

RTT Kuka LWR 4+

 

• lwr_description : contains the URDF, with tools, and launch files associated.
• lwr_hardware : fork of RCPRG's repo. Contains an RTT component for communicating with the hardware (through rtnet) et another for publishing the robot status in ROS.
• lwr_ikfast : Fast inverse kinematics plugin for moveit. Use trac-ik instead.
• lwr_moveit_config : MoveIt! config package for starting moveit and connecting it to the controller manager.
• lwr_utils : Set of very useful tools to launch and connect everything.
• rtt_lwr_sim : Simulated interface for the Kuka.

Experimental Setup