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lbr-stack / lbr_fri_ros2_stack

ROS 1/2 integration for KUKA LBR IIWA 7/14 and Med 7/14
https://lbr-stack.readthedocs.io/en/latest/lbr_fri_ros2_stack/lbr_fri_ros2_stack/doc/lbr_fri_ros2_stack.html
Apache License 2.0
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KDL based Movement in Cartesian Space #167

Closed BoWangFromMars closed 5 months ago

BoWangFromMars commented 5 months ago

KDL(Kinematics and Dynamics Library) installation process is introduced in this branch. Based on forward kinematics and inverse kinematics provided by KDL, a demo, which makes the robot move in z axis in Cartesian space, is added in this branch. Please see the detailed information in pdf file "KDL installation and demo.pdf" in the directory './lbr_demos_fri_ros2_cpp/doc'.

mhubii commented 5 months ago

thank you for the PR @BoWangFromMars. I would create a development branch so you can re-target the PR against this branch. Then I can make some modifications to the PR on the dev branch.

mhubii commented 5 months ago

so ideally the robot descriptions will be loaded from the /robot_description topic, and there is no need for the additional .urdf files. Hope that makes sense. Alternatively, the robot description could be parsed as a parameter to the node.

From Topic

Create subscription to /robot_description. robot_state_publisher publishes the robot description with QoS transient local topic, see e.g. https://docs.ros.org/en/rolling/Concepts/Intermediate/About-Quality-of-Service-Settings.html:

From Parameter

Refer e.g. https://github.com/lbr-stack/lbr_fri_ros2_stack/blob/036b23b2f91af70e1ca490e0c81660b6b17ae114/lbr_demos/lbr_demos_fri_ros2_advanced_cpp/src/admittance_control_node.cpp#L17

mhubii commented 5 months ago

thank you again for the PR @BoWangFromMars. I merged this into the dev branch and will update in #170.

If you want to make amend changes yourself, please add a PR to the dev branch again.