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ros-industrial / kuka_experimental

Experimental packages for KUKA manipulators within ROS-Industrial (http://wiki.ros.org/kuka_experimental)
Apache License 2.0
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Still active? #193

Closed matteopantano closed 3 years ago

matteopantano commented 3 years ago

I am planning to do some tests with this repo and I would like to connect directly to a kuka agilus. Is this something feasible? I am seeing that the latest upload was 4 yrs ago.

Best, Matteo

gavanderhoorn commented 3 years ago

RSI hasn't really changed, neither has EKI. So there isn't that much to do (other than improve UX and keep up with ros_control changes, which have been very few over the past few years, and we don't support ROS 2 here).

There are basically 3 versions of RSI actively used "in the wild": v2, v3 and v4.

v2 and v3 are supported directly. v4 is in #152 and #155.

Other main challenges are things like #89, #126 and #147. But those lie outside the driver, in that they need controllers/trajectory generators which are capable of producing sufficiently smooth trajectories. pantor/ruckig can now do that, which seems to be a way forward (but again: that would not be part of this repository).

We could consider adding filter blocks to the RSI configuration (as discussed in #164), but that has its own set of disadvantages and would require someone to invest the time.

gavanderhoorn commented 3 years ago

As this is not an issue with the packages in this repository, I'm going to close it.

Feel free to keep commenting on it.

matteopantano commented 3 years ago

Thanks a lot, this was the information I needed!