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 such as 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 test on simulation of the real robot without recompiling their code.

Experimental setup