OROCOS/ROS Components for Light Weight Robots

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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.


  • Relatively powerful Ubuntu 18.04/16.04/14.04 PC
  • Knowledge about ROS
  • Notions about OROCOS

Experimental setup