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ridgeback_iiwa_integration's Introduction

Ridgeback + iiwa Integration

Tested on Ubuntu 18.04 with ROS Melodic.

This repository provides our customed ridgeback integration with KUKA LBR iiwa 7 R800. Supporting Moveit! and ROS navigation stack.

Build and Compile

  1. Clone this repository:
mkdir ros_ws && cd ros_ws && mkdir src
catkin_init_workspace
cd src
git clone https://github.com/daeunSong/ridgeback_iiwa_integration.git
  1. Clone iiwa related repository:
git clone -b glab/drawing https://github.com/daeunSong/iiwa_stack.git
  1. Clone ridgeback related repositories:
git clone https://github.com/ridgeback/ridgeback.git
git clone https://github.com/ridgeback/ridgeback_desktop.git
git clone https://github.com/ridgeback/ridgeback_simulator.git
  1. [Optional] Clone the example repositories:
git clone https://github.com/daeunsong/iiwa_examples.git
git clone https://github.com/daeunsong/ridgeback_examples.git
  1. Install the dependencies:
cd ..
rosdep install --from-paths src --ignore-src -r -y
  1. Build the workspace:
catkin build
  1. Add a parameter for robot description:
echo "export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_iiwa_description urdf/ridgeback_iiwa_robot.urdf.xacro --first-only)" >> ~/.bashrc
  1. Source the workspace:
source devel/setup.bash

You can also add this line in ~/.bashrc, but be aware that this has to be above the line in step 7.

Demo

For a quick demo, run the following commands in respective terminals. Please refer to the documentation for more details.

  1. Run gazebo and bring up the robot model
roslaunch ridgeback_iiwa_gazebo ridgeback_iiwa_gazebo.launch
  1. Run mobile manipulation demo
roslaunch ridgeback_iiwa_manipulation mobile_manipulation_interactive_demo.launch

References

Contact

All bug reports, feedback, comments, contributions or remarks are welcome.

ridgeback_iiwa_integration's People

Contributors

daeunsong avatar jiyooonpark avatar minie12 avatar yaesolkim avatar

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Forkers

minie12 jiyooonpark daeunsong patlican23

ridgeback_iiwa_integration's Issues

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