kmriiwa_ws

Repository for master thesis and specialization project in Robotics & Automation, at NTNU Fall 2019, by Charlotte Heggem and Nina Marie Wahl.

Intention: This project aims to create a communication API between a KUKA robot, KMR iiwa, and ROS2. Multiple ROS packages are used for including functionality. Navigation2 is used for navigating the mobile vehicle. Cartographer and RTAB-Map is used for SLAM. MoveIt2 is used for path planning for the manipulator.

Multiple Intel Realsens D435 cmeras are used to provide better moving and detection of objects. A Robotiq gripper is used for picking up objects. The cameras and gripper are launched at a separate onboard computer (Intel NUC).

System requirements:

• Ubuntu 18.04.3
• Python 3.6.9
• ROS Eloquent

Required ROS Packages:

• Gazebo packages
• Navigation2
• MoveIt2
• Cartographer
• RTAB-Map ROS wrapper (dependent on RTAB-Map)
• Ros2 Intel Realsense (ROS2 Wrapper for Intel® RealSense™ Devices)
• ROS2 Openvino Toolkit (dependent on OpenVino Toolkit)
• ROS2 Object Analytics