iiwa_stack_tools

This repository provides ROS wrappers for some tools that we have been using so far together with our iiwa. For installation check out the following steps:

1. Install iiwa_stack on your robot.
2. Clone this ropository into your catkin workspace
3. Run catkin_make
4. Use KUKA WorkVisual to set up the correct IO configuration. Please note that there is usually only one specific version of WorkVisual that is compatible with a particular Sunrise release. For the Schunk EGN100 gripper we have been using KUKA Sunrise Assembly Toolbox, the Zimmer R800 gripper runs with KUKA Sunrise Gripper Toolbox.
5. Go to iiwa_stack_tools/iiwa_tools_ros_java/src and find the right package for the tool you are using. The packages are organized by the following naming scheme: de/tum/in/robotics/<MANUFACTURER>/<PRODUCT>
6. Copy the according package into the src folder of your iiwa_stack Sunrise project.
7. Copy the libraries from iiwa_stack_tools/iiwa_tools_ros_java/ROSJavaLib to the ROSJavaLib folder of your iiwa_stack Sunrise project and add them to your build path.
8. Open /src/de/tum/in/camp/kuka/ros/app/ROSBaseApplication.java and replace the line

   protected ROSTool rosTool = null;
   

   with your tool. E.g.:

     @Inject protected SchunkEGN100 rosTool;
   

9. Open the object template view (usually on the right side of Sunrise workbench) and look for your tool. Create a frame called <TOOL_NAME>_link_ee (e.g. schunk_egn100_link_ee)
10. Synchronize your project with the robot controller.
11. Make sure you have /iiwa/toolName parameter configured in ROS:

         <param name="/iiwa/toolName" type="string" value="TOOL_NAME" />
    

12. If you want Sunrise to interpret and publish the CartesianPose of the iiwa in tool coordinates set the correct endpoint frame:

        <param name="/iiwa/endpointFrame" type="string" value="TOOL_NAME_link_ee" />
    

13. Start the ROSSmartServo application as usual.