2. Overview Network

There are a few components connected within the network, each having its own purpose:

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ROS Master

This VM is meant to run throughout the whole procedure, acting as a communication point between systems involved.

It executes the following ROS processes (optional processes can be run elsewhere - e.g. on ROS DEV MACHINE):

• roscore which acts as a register point and parameter server for the whole application
• iiwa_workcell_app server_sensor.launch allowing the MCUs to connect to ROS via rosserial
• (OPTIONAL) iiwa_workcell_app server_moveit.launch running the pipelines for planning, trajectory execution and sensing as well as the robot controllers
• (OPTIONAL) iiwa_workcell_app client.launch to control the robot via rviz UI

KUKA CABINET

The SmartPad controlling the robot is responsible for establishing the connection via X66 port.

It executes the following Java Apps in AUT mode:

• ROSSmartServo connecting to the ROS master, publishing robot control topics and running a control loop

ROS DEV MACHINE / CLIENT

This system is intended to act as a client of the services provided by the ROS MASTER. Depending on your availability needs and the computing power of the different systems, the ROS DEV MACHINE can take over the optional tasks of the ROS MASTER for easier development.

JOINT 2/4/6

These MCUs are responsible for reading the distances of the respectively mounted sensors. Each connects to the network upon startup and publishes their data via rosserial protocol. Note that the mandatory processes of ROS MASTER need to be running first.

SUNRISE WORKBENCH

This VM is only needed during the robot software setup.