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Set up and environment info

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Thomas Cook edited this page May 24, 2017 · 4 revisions

Setup

  • Set up Ubuntu 14.04 with VMWare Workstaton Pro 12 (VMWare Fusion on macOS).
  • Install ROS indigo on the machine according to this tutorial

Versions were selected simply for expected compatibility and stability. Newer versions may work

KUKA + RViz + Moveit

The kuka_experimental repository on github provides us with a set of robot model mesh files as well as .xacro robot description files. With these files and ROS set up, you should be able to run | roslaunch kuka_kr10_support test_kr10r1100sixx.launch to open Rviz with a model of the KUKA robot and a joint state publisher input controller.

In order to work with the robot in an collision-aware, physical simulation, we must add inertia matrices and integrate Moveit!. To generate inertia matrices for each link, use Solidworks to open each stl under meshes/collision/ and select the option to open it as a solid model as demonstrated here. Under Mass properties you should now see an inertia matrix and mass. Take these values for each link and put them into the macro.xacro file for each link definition.

Once the xacro is complete, follow the instructions here to generate the urdf file for the robot.

Finally, set up the MoveIt configuration for the robot by following the steps here and here.

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