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ros-industrial / kuka_experimental

Experimental packages for KUKA manipulators within ROS-Industrial (http://wiki.ros.org/kuka_experimental)
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Support for KR 6 R700-2 robot #192

Closed uthiralakshmi closed 1 year ago

uthiralakshmi commented 3 years ago

Hey hi,

I was just hoping to get details about ROS interface with KR6 R7002 robot. I would like to know details like urdf, mesh files and how I can interface KRC5Micro Controller With ROS.

gavanderhoorn commented 3 years ago

I believe you mean the KR 6 R700-2 variant, correct?

In any case: we don't have support for that specific variant yet, so you'd have to create the required files. It's likely you could start with the files for the non--2 in kuka_kr6_support.

As to KR C5 support: I'm not sure whether there are any changes required to the RSI / EKI hw interfaces. You might need the changes proposed in #152.

simonschmeisser commented 3 years ago

You can have a look at the KR 10 R900-2, it appears to be almost the same, only link 2 and 4 being shorter. There is an open PR #198 that you can have a look at for how to reuse most of an existing robot model. You would only need to add new meshes for link 2 and 4 in the meshes folder

Re KRC5: Kuka claims there are no incompatibilities. So if the code here works on KR4 it should run on KRC5 just as well.

longwoo commented 2 years ago

need KR 6 R700-2 support too.