Do we have any plans to transplant iiwa to ROS2? - Githubissues

IFL-CAMP / iiwa_stack

ROS integration for the KUKA LBR IIWA R800/R820 (7/14 Kg).

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Do we have any plans to transplant iiwa to ROS2? #201

Open leledeyuan00 opened 5 years ago

leledeyuan00 commented 5 years ago

Do we have any plans to transplant iiwa to ROS2?

SalvoVirga commented 5 years ago

I've been thinking about that for a while, I would love to try that out. There are already Java bindings for ROS2, so it should be possible to just have ROS2 nodes running on the cabinet the same way they are setup now.

As always, finding the time to do that is always the issue :)

mhubii commented 3 years ago

Probably not the solution most are looking for, but in the meantime, we ported the LBR robots to ROS2 using the Fast Robot Interface (FRI). Ported are the med7, med14, iiwa7, iiwa14.

They can be spawned into Gazebo and controlled via the FRI on the real setup. The FRI is integrated into the ROS2 build system. See lbr_fri_ros2_stack. Hope this helps someone.