iiwa_ros2_tutorials

• ROS2 package for KUKA LBR iiwa 14 R820 tutorial.
• Docker for simulation and control environments for KUKA LBR iiwa 14 R820.

Dependencies

Docker build environments

• Ubuntu 22.04 PC
  • Docker 27.4.1
  • Docker Compose 2.32.1

LBR iiwa 14 R820

• Ubuntu 22.04 PC
  • ROS2 HUmble
  • lbr_fri_ros2_stack
  • Byobu
• LBR iiwa

Installation

1. Follow Docs to setup a package with Sunrise Workbench
2. If the SmartPAD fails to start properly, update the SmartHMI.exe.PdsFirmwareUpdate.config file located in C:/KRC/SmartHMI/ with this
3. Connect an Ethernet cable between the host computer and the Ethernet port of controller
4. Set the IP as 172.31.1.150 to reach the IP 172.31.1.147 (robot controller side)
5. Build the docker environment as below (if you use the docker, this must be set in docker container)

   sudo apt install byobu && git clone [email protected]:UOsaka-Harada-Laboratory/iiwa_ros2_tutorials.git --recursive --depth 1 && cd iiwa_ros2_tutorials && COMPOSE_DOCKER_CLI_BUILD=1 DOCKER_BUILDKIT=1 docker compose build --no-cache --parallel  

Usage with docker

1. Build and run the docker environment
   • Create and start docker containers in the initially opened terminal

   docker compose up

2. Confirm the lbr_fri_ros2_stack was installed successfully in another terminal

   ./utils/bringup_lbr_urdf_ctrl.sh

3. Kill the processes at step 2 and execute the demos with the real robot
   • You can find how to execute demos
   • You can find scripts in iiwa_ros2_tutorials/utils to execute all necessary commands for each demonstration

   ./utils/XXX.sh

   • You can also use pyfri to easily test demos

./utils/bringup_lbr_urdf_ctrl.sh

./utils/bringup_lbr_urdf_gui.sh

./utils/demo_moveit_simulation_gui.sh

./utils/demo_moveit_action_simulation_cpp.sh

./utils/demo_moveit_action_simulation_py.sh

Author / Contributor

Takuya Kiyokawa

We always welcome collaborators!

License

This software is released under the MIT License, see LICENSE.