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IFL-CAMP / iiwa_stack

ROS integration for the KUKA LBR IIWA R800/R820 (7/14 Kg).
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Connect IIwa kuka robot with kinect 3d camera #60

Closed usman2k closed 7 years ago

usman2k commented 7 years ago

I need to connect IIwa kuka robot with kinect 3d camera by using ros.

SalvoVirga commented 7 years ago

Well, this is not really related to iiwa_stack per se. If I understood correctly what you mean, I would say that this is a very common problem - calibrate a camera sensor to a manipulator. Without going into details, I can tell you it is fairly simple and I personally use almost constantly a Kinect calibrated to my iiwa. You can employ any of the hand-eye calibration techniques out there, some are already available for ROS. For example this is a pretty good one, it would definitely do the job and it is based on the classical Tsai-Lenz algorithm.

I don't know what you background is, but if what I wrote so far doesn't ring some bells please have a look to the literature on hand-eye camera/robot calibration. I you have more specific questions, write here or drop me an email. Else, this issue could be closed since not of great relevance.

usman2k commented 7 years ago

Thanks for your kind response.... Actually, I am new in the field of robertics, I am doing my graduation these is inwhich in need to do assembly task by using the robot and human collabration with LBR-IIWA kuka my task is bese on Inverse kemamatis while i need to connect the Robos with kematic 3d camera I installed lunix then kematics ros and moveit package but ı am not findlar with ros Could you please guide me where i need to start and which computer language ı need to larn on the contıres IIWA Work with Java which ros...

SalvoVirga commented 7 years ago

It is very difficult to give you a complete answer here :| If you are starting with ROS, please spend some time learning the basics. There are plenty of tutorials around: http://wiki.ros.org/ROS/Tutorials. For your LBR iiwa you can use iiwa_stack, for a Kinect v1 have a look at this or here for a Kinect v2, not sure which one is the best driver for the v2 tho.

If you need to perform a camera-robot calibration, I pointed you to a good solution in my previous post. I hope my indications can help you, unfortunately I just cannot find the time to guide you through all the single steps.

SalvoVirga commented 7 years ago

I hope my comments were helpful, good luck for your project. Feel free to ask more here or privately if you need help with iiwa_stack.

usman2k commented 7 years ago

Thanks for your kind response.... I learnt ros basic tutorial.... Actually I need to make some assembly like below mentioned link https://youtu.be/tCss_TjSs7Y Someone told me to use ros moveit packages because its inverse kinematics process. I want to know your suggestion.

Best Regards, Usman Ishtiaq

From: Salvo Virga notifications@github.com Sent: Wednesday, March 15, 2017 3:01:02 PM To: SalvoVirga/iiwa_stack Cc: usman2k; Author Subject: Re: [SalvoVirga/iiwa_stack] Connect IIwa kuka robot with kinect 3d camera (#60)

It is very difficult to give you a complete answer here :| If you are starting with ROS, please spend some time learning the basics. There are plenty of tutorials around: http://wiki.ros.org/ROS/Tutorials. For your LBR iiwa you can use iiwa_stack, for a Kinect v1 have a look at thishttp://wiki.ros.org/freenect_stack or herehttps://github.com/code-iai/iai_kinect2 for a Kinect v2, not sure which one is the best driver for the v2 tho.

If you need to perform a camera-robot calibration, I pointed you to a good solution in my previous post. I hope my indications can help you, unfortunately I just cannot find the time to guide you through all the single steps.

— You are receiving this because you authored the thread. Reply to this email directly, view it on GitHubhttps://github.com/SalvoVirga/iiwa_stack/issues/60#issuecomment-286695210, or mute the threadhttps://github.com/notifications/unsubscribe-auth/AY81Aac_MSOLQsHF90g0p7Wf3SLvYouCks5rl7begaJpZM4MSGUV.