sas_robot_driver_kuka Directory Reference

Directories
	launch

Detailed Description

sas_robot_driver_kuka

Remarks

More information about the SmartArmStack is available in https://smartarmstack.github.io/.

Important

Do not clone this repository directly. See https://github.com/MarinhoLab/sas_kuka_control_template

ROS 2 Nodes & Parameters

Node: sas_robot_driver_kuka_node

Property	Value
Executable	sas_robot_driver_kuka_node
ROS node name	sas_robot_driver_kuka
Description	Main driver node for the KUKA robot. Reads all parameters, instantiates RobotDriverKuka (FRI interface to the robot, via the joint-command overlay client) and RobotDriverROS (runs the control loop).

Parameters

The parameters are provided through a YAML config file passed to the launch file (see config/config.yaml):

ros2 launch sas_robot_driver_kuka robot_launch.py name:=kuka_1
# or, with an alternate config file:
ros2 launch sas_robot_driver_kuka robot_launch.py name:=kuka_1 config_file:=/path/to/config.yaml

Parameter	Type	Mandatory / Optional	Default	Purpose
joint_limits_min	array of 7 doubles (degrees)	Mandatory	none — must be provided	Minimum joint limits, in degrees (e.g. [-170.0, -120.0, -170.0, -120.0, -170.0, -120.0, -175.0] for the R820)
joint_limits_max	array of 7 doubles (degrees)	Mandatory	none — must be provided	Maximum joint limits, in degrees (e.g. [170.0, 120.0, 170.0, 120.0, 170.0, 120.0, 175.0] for the R820)
thread_sampling_time_sec	double	Mandatory	none — must be provided	Sampling period of the robot control-loop thread (e.g. 0.001 s = 1000 Hz)

How mandatory/optional is determined in code:

• Mandatory params are read with sas::get_ros_parameter(...) — if missing, the node throws and fails to start.
• Optional params would be read with sas::get_ros_optional_parameter(..., <default>) — they carry in-code defaults. This node currently has no optional parameters.