mc_kuka_fri

Interface between kuka_fri and mc_rtc. It provides multi-robot support.

It also provides two robot modules:

• iiwa7
• iiwa14

Dependencies

This package requires:

• mc_rtc
• mesh_sampling
• iiwa_description
• kuka_fri

This package can be built with kuka_fri. To do so, pass the -DWITH_KUKA_FRI=OFF when configuring the package. In such case, only the robot modules will be provided.

Usage

1. Install this project's dependencies
2. Install this project (cmake/make/make install)

Your mc_rtc configuration file (typically ~/.config/mc_rtc/mc_rtc.yaml) should contain the following lines:

# General mc_rtc configuration to run a panda controller at 1kHz
MainRobot: iiwa14 # Or iiwa7
Enabled: YourController
# Timestep of the controller that will also be used for the Kuka arm(s)
Timestep: 0.005

# Set a LogPolicy suitable for real-time
LogPolicy: threaded

# KukaFRI specific configuration
KukaFRI:
  iiwa14: # Name of the robot in the controller
    host: 172.16.0.2 # IP of the robot
  iiwa7: # Name of an extra robot in the controller
    host: host.domain.com
    port: 30200 # This is the default and can be ommited
  # Actuated robots that are not controlled via mc_kuka_fri
  ignored: [env/door, env/box]

Run the program:

MCKukaFRI

You can also provide an additional configuration file (to swap between different network configurations easily for example):

MCKukaFRI -f conf.yaml

This work was partially supported by the Research Project I.AM. through the European Union H2020 program under GA 871899.