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 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¶
Installation and Configuration¶
Tutorials¶
Advanced Tutorials¶