OROCOS/ROS Components for Light Weight Robots¶
Introduction¶
rtt_lwr is a set of components for controlling the Kuka LWR and IIWA at 1Khz. It relies on OROCOS for the real-time part, but also interfaces with ROS so we can use Rviz, MoveIt, ros-control etc.
It has been designed so researchers/Phd Students/Engineers at ISIR can develop generic controllers for light weight robots and seemlessly switch between simulation/real hardware without the need to recompile their code.
Prerequisites¶
- Relatively powerful Ubuntu 18.04/16.04/14.04 PC
- Knowledge about ROS
- Notions about OROCOS
Experimental setup¶
Installation and Configuration¶
Tutorials¶
Advanced Tutorials¶