Getting Started with KUKA iiwa_stack

最新推荐文章于 2024-06-21 09:39:12 发布
最新推荐文章于 2024-06-21 09:39:12 发布
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分类专栏： 机械臂控制 ROS 文章标签： git
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本文链接：https://blog.csdn.net/huangdianye/article/details/129353782
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1. Get prepared with codes

1.1. Install visual studio code as IDE

refer to https://blog.csdn.net/huangdianye/article/details/126574121

1.2. Create a ROS workspace

refer to https://blog.csdn.net/huangdianye/article/details/126562693

1.3. Download iiwa_stack and compile it

introduction of iiwa_stack: https://github.com/IFL-CAMP/iiwa_stack/wiki

cd <to_the_src_directory_of_the_ros_workspace>
git clone https://github.com/IFL-CAMP/iiwa_stack.git src/iiwa_stack

ctrl+shift+B to huild the project

2. Laptop configuration (the Leading side - test connection)

2.1 Bashrc setting

$ gedit ~/.bashrc

and add the following two command lines into the bashrc file:

export ROS_IP=172.31.1.150
export ROS_MASTER_URI=http://$ROS_IP:11311

2.2 Wired setting

ipv4setting

2.3 Test the connection

mind the ip address setting from the following side:

ping 172.31.1.145 # for iiwa7
ping 172.31.1.147 # for iiwa14

ping result
PS: the ip address is preset to the sunrise workbench running on the kuka control carbinet.

3. Get Started

to get started with KUKA iiwa, we have to take care of two sides, your laptop and the smart pad.

3.1 Run roscore first!!! (From the Laptop side)

roscore

3.2 Turn on the “ROSSmartServo” application (From the Smart pad side)

One could consider the “ROSSmartServo” as a roslaunch file to be launched by physically press the button on the smart pad.

  • start ROSSmartServo via the SmartPad. Attention: Do not open the other one!!!
    在这里插入图片描述
    在这里插入图片描述
  • start handguide mode
    在这里插入图片描述
    在这里插入图片描述

3.3 Confirm the rostopic is sucessfully transmitted

3.3.1 get the topic list

rostopic list

在这里插入图片描述

3.3.2 get the topic content

cd <to_the_root_directory_of_the_workspace>
source devel/setup.bash
rostopic echo /iiwa/state/CartesianPose

在这里插入图片描述
在这里插入图片描述

4 Run Moveit and get TF tree

4.1 Prepare

sudo apt install ros-noetic-moveit

create a ros package called iiwa_core

4.2 launch file

roslaunch iiwa_core iiwa_model.launch

4.3 recall other file

  • iiwa_model.launch
<?xml version="1.0"?>
<launch>
    <arg name="sim" default="false" doc="If true, the robot will be simulated in Gazebo" />
    <!-- hardware_interface to use : PositionJointInterface, EffortJointInterface, VelocityJointInterface. -->
    <arg name="hardware_interface" default="PositionJointInterface"/>
    <!-- The is gonna have its nodes/topics under a namespace with the same name. -->
    <arg name="robot_name" default="iiwa"/>
    <!-- Model of the iiwa to use : iiwa7, iiwa14 -->
    <arg name="model" default="iiwa7"/>
    <arg name="rviz" default="true" />
    
    <remap from="/$(arg hardware_interface)_trajectory_controller/follow_joint_trajectory" 
           to="/$(arg robot_name)/$(arg hardware_interface)_trajectory_controller/follow_joint_trajectory" />
    <remap from="robot_description" to="/$(arg robot_name)/robot_description" /> 
    <remap from="/get_planning_scene" to="/$(arg robot_name)/get_planning_scene" /> 

    <!-- Working with the real robot.  -->
    <group ns="$(arg robot_name)" unless="$(arg sim)">
        <!-- Load controllers accordingly to parameters -->
        <include file="$(find iiwa_control)/launch/iiwa_control.launch">
            <arg name="hardware_interface" value="$(arg hardware_interface)" />
            <arg name="controllers" value="joint_state_controller $(arg hardware_interface)_trajectory_controller" />
            <arg name="robot_name" value="$(arg robot_name)" />
            <arg name="model" value="$(arg model)" />
        </include>
        <!-- Robot interface -->
        <include file="$(find iiwa_hw)/launch/iiwa_hw.launch" >
            <arg name="hardware_interface" value="$(arg hardware_interface)" />
        </include>
    </group>
    
    <!-- Load move_group -->
    <group ns="$(arg robot_name)">
        <include file="$(find iiwa_moveit)/launch/move_group.launch">
            <arg name="publish_monitored_planning_scene" value="true" />
            <arg name="hardware_interface" value="$(arg hardware_interface)"/>
            <arg name="robot_name" value="$(arg robot_name)"/>
            <arg name="model" value="$(arg model)" />
        </include>
        
        <include if="$(arg rviz)" file="$(find iiwa_core)/launch/iiwa_rviz.launch">
            <arg name="config" value="true"/>
        </include>
    </group>
    
</launch>
  • iiwa_rviz.launch
<?xml version="1.0"?>
<launch>

  <arg name="debug" default="false" />
  <arg unless="$(arg debug)" name="launch_prefix" value="" />
  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />

  <arg name="config" default="false" />
  <arg unless="$(arg config)" name="command_args" value="" />
  <arg     if="$(arg config)" name="command_args" value="-d $(find iiwa_core)/launch/iiwa_model.rviz" />
  
  <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
	args="$(arg command_args)" output="screen">
    <rosparam command="load" file="$(find iiwa_moveit)/config/kinematics.yaml"/>
  </node>

</launch>
  • iiwa_model.rviz
Panels:
  - Class: rviz/Displays
    Help Height: 84
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /TF1/Status1
        - /RobotModel1
      Splitter Ratio: 0.7425600290298462
    Tree Height: 781
  - Class: rviz/Help
    Name: Help
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
Preferences:
  PromptSaveOnExit: true
Toolbars:
  toolButtonStyle: 2
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.029999999329447746
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 10
      Reference Frame: <Fixed Frame>
      Value: true
    - Acceleration_Scaling_Factor: 0.1
      Class: moveit_rviz_plugin/MotionPlanning
      Enabled: false
      Move Group Namespace: ""
      MoveIt_Allow_Approximate_IK: false
      MoveIt_Allow_External_Program: false
      MoveIt_Allow_Replanning: false
      MoveIt_Allow_Sensor_Positioning: false
      MoveIt_Planning_Attempts: 10
      MoveIt_Planning_Time: 5
      MoveIt_Use_Cartesian_Path: false
      MoveIt_Use_Constraint_Aware_IK: true
      MoveIt_Workspace:
        Center:
          X: 0
          Y: 0
          Z: 0
        Size:
          X: 2
          Y: 2
          Z: 2
      Name: MotionPlanning
      Planned Path:
        Color Enabled: false
        Interrupt Display: false
        Links:
          All Links Enabled: true
          Expand Joint Details: false
          Expand Link Details: false
          Expand Tree: false
          Link Tree Style: Links in Alphabetic Order
          iiwa_link_0:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          iiwa_link_1:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          iiwa_link_2:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          iiwa_link_3:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          iiwa_link_4:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          iiwa_link_5:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          iiwa_link_6:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          iiwa_link_7:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          iiwa_link_ee:
            Alpha: 1
            Show Axes: false
            Show Trail: false
          world:
            Alpha: 1
            Show Axes: false
            Show Trail: false
        Loop Animation: true
        Robot Alpha: 0.5
        Robot Color: 150; 50; 150
        Show Robot Collision: false
        Show Robot Visual: true
        Show Trail: false
        State Display Time: 0.05 s
        Trail Step Size: 1
        Trajectory Topic: move_group/display_planned_path
        Use Sim Time: false
      Planning Metrics:
        Payload: 1
        Show Joint Torques: false
        Show Manipulability: false
        Show Manipulability Index: false
        Show Weight Limit: false
        TextHeight: 0.07999999821186066
      Planning Request:
        Colliding Link Color: 255; 0; 0
        Goal State Alpha: 1
        Goal State Color: 250; 128; 0
        Interactive Marker Size: 0
        Joint Violation Color: 255; 0; 255
        Planning Group: manipulator
        Query Goal State: true
        Query Start State: false
        Show Workspace: false
        Start State Alpha: 1
        Start State Color: 0; 255; 0
      Planning Scene Topic: move_group/monitored_planning_scene
      Robot Description: robot_description
      Scene Geometry:
        Scene Alpha: 1
        Scene Color: 50; 230; 50
        Scene Display Time: 0.20000000298023224
        Show Scene Geometry: true
        Voxel Coloring: Z-Axis
        Voxel Rendering: Occupied Voxels
      Scene Robot:
        Attached Body Color: 150; 50; 150
        Links:
          All Links Enabled: true
          Expand Joint Details: false
          Expand Link Details: false
          Expand Tree: false
          Link Tree Style: Links in Alphabetic Order
          iiwa_link_0:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          iiwa_link_1:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          iiwa_link_2:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          iiwa_link_3:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          iiwa_link_4:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          iiwa_link_5:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          iiwa_link_6:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          iiwa_link_7:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
          iiwa_link_ee:
            Alpha: 1
            Show Axes: false
            Show Trail: false
          world:
            Alpha: 1
            Show Axes: false
            Show Trail: false
        Robot Alpha: 0.5
        Show Robot Collision: false
        Show Robot Visual: true
      Value: false
      Velocity_Scaling_Factor: 0.1
    - Class: rviz/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: true
        iiwa_link_0:
          Value: true
        iiwa_link_1:
          Value: true
        iiwa_link_2:
          Value: true
        iiwa_link_3:
          Value: true
        iiwa_link_4:
          Value: true
        iiwa_link_5:
          Value: true
        iiwa_link_6:
          Value: true
        iiwa_link_7:
          Value: true
        iiwa_link_ee:
          Value: true
        world:
          Value: true
      Marker Alpha: 1
      Marker Scale: 0.30000001192092896
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        world:
          iiwa_link_0:
            iiwa_link_1:
              iiwa_link_2:
                iiwa_link_3:
                  iiwa_link_4:
                    iiwa_link_5:
                      iiwa_link_6:
                        iiwa_link_7:
                          iiwa_link_ee:
                            {}
      Update Interval: 0
      Value: true
    - Alpha: 0.800000011920929
      Class: rviz/RobotModel
      Collision Enabled: false
      Enabled: true
      Links:
        All Links Enabled: true
        Expand Joint Details: false
        Expand Link Details: false
        Expand Tree: false
        Link Tree Style: Links in Alphabetic Order
        iiwa_link_0:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        iiwa_link_1:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        iiwa_link_2:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        iiwa_link_3:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        iiwa_link_4:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        iiwa_link_5:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        iiwa_link_6:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        iiwa_link_7:
          Alpha: 1
          Show Axes: false
          Show Trail: false
          Value: true
        iiwa_link_ee:
          Alpha: 1
          Show Axes: false
          Show Trail: false
        world:
          Alpha: 1
          Show Axes: false
          Show Trail: false
      Name: RobotModel
      Robot Description: robot_description
      TF Prefix: ""
      Update Interval: 0
      Value: true
      Visual Enabled: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Default Light: true
    Fixed Frame: world
    Frame Rate: 30
  Name: root
  Tools:
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/MoveCamera
    - Class: rviz/Select
  Value: true
  Views:
    Current:
      Class: rviz/XYOrbit
      Distance: 1.8138381242752075
      Enable Stereo Rendering:
        Stereo Eye Separation: 0.05999999865889549
        Stereo Focal Distance: 1
        Swap Stereo Eyes: false
        Value: false
      Field of View: 0.7853981852531433
      Focal Point:
        X: 0.4586904048919678
        Y: -0.09752808511257172
        Z: -4.6193542857508874e-07
      Focal Shape Fixed Size: true
      Focal Shape Size: 0.05000000074505806
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
      Pitch: 0.44479644298553467
      Target Frame: world
      Yaw: 5.634957313537598
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 1016
  Help:
    collapsed: false
  Hide Left Dock: false
  Hide Right Dock: false
  MotionPlanning:
    collapsed: false
  MotionPlanning - Trajectory Slider:
    collapsed: false
  QMainWindow State: 000000ff00000000fd0000000100000000000001c00000039efc0200000007fb000000100044006900730070006c006100790073010000003d0000039e000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e006701000002db0000017a0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670000000243000001980000017d00ffffff000005720000039e00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Views:
    collapsed: false
  Width: 1848
  X: 72
  Y: 27

5. Turn of KUKA iiwa

Always keep in mind that the ROSSmartServo should be turned off first before close the roscore running on the laptop or the desktop PC.

  • turn off the handguide mode
    在这里插入图片描述

  • turn off the ROSSmartServo application
    在这里插入图片描述

  • finally turn off the roscore

  • close the terminal

03, March, 2023
Dianye Huang
Munchen

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罗伯特祥的博客
12-30 3118
文章目录首先来看一下iiwa的几个演示视频LWR的电流控制系统建模和辨识关节传感器分级控制关节层面控制 首先来看一下iiwa的几个演示视频 Teaching by Demonstration： http://v.youku.com/v_show/id_XODE3MzQ0MTk2.html 末端I/O实现示教点示教功能 Teaching by Demonstration II：http...

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