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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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Added new kuka_kss_hw_interface and associated kuka_msgs packages. #258

Open patduda opened 9 months ago

patduda commented 9 months ago

The goal of this new package was to utilize the latest Kuka technology and system knowledge to provide a driver that is more functional and industry ready. It has many new features:

  1. True server implemented in Ethernet KRL (EKI) that runs in the background. Once installed, the system will listen for a connection from the ROS node. Support for Auto External is built in so the ROS node can start/stop programs and enable/disable drives.
  2. Connection startup checks validate robot model, driver versions, axis types, axis velocities.
  3. Support for external axes and linear axes.
  4. Modular design: Support for different communication methods (EKI, RSI, future EtherCat). Support for different control options (EKI, RSI, other future options like mxAutomation). Control types implemented in different KRL programs.
  5. Consolidated control and switching from Kuka motion control with EKI to remote motion control with RSI.
  6. New services: start_motion, stop_motion, robot_enable, robot_disable, device_info, robot_status, reset, request_control_type, get_control_type.
  7. Built-in support for linux real-time extensions.