Implementation Question

[emielke12]

I'm interested in trying this out on a recent KMR iiwa purchase, and wanted to know what the interface setup involves? I've used this package as well as this one for the LBR iiwa, and they had some documentation on sunrise/robot side configuration.

Is any configuration needed here? I see that you specify the robot IP in some of the param files, with the associated port, do we need to change the robot IP to this?

What connection port are we using during communication?

Any documentation surrounding these questions (and other similar) would be greatly appreciated!

[charlotteheggem]

Hi Emielke,

I have attached an extraction from our Thesis that describes the setup and the architecture.

As you mention, the robot IP must be specified and the port for TCP/UDP for the remote PC.

kmr_iiwa_setup.pdf

[emielke12]

Thank you! One additional question:

These packages you list to add:

com.kuka.common
com.kuka.nav.comm.api
com.kuka.nav.encryption.provider.api
com.kuka.nav.provider
com.kuka.nav.provider
com.kuka.robot.fdi.api
bjprov-djk15on-154
log4j
slf4j.api
slf4j.log4j12

are these standard kuka packages? I (and my KUKA rep) are unable to find the com.kuka.nav.provider packages or the fdi...

[liyifei1997]

Thanks for your great work! Is there any update of this packages for LBR iiwa?

[liyifei1997]

Hi Emielke,

I have attached an extraction from our Thesis that describes the setup and the architecture.

As you mention, the robot IP must be specified and the port for TCP/UDP for the remote PC.

kmr_iiwa_setup.pdf

Thanks for your great work! I can't find the packages: "bjprov-djk15on-154", do you know where should I find it?