README.md

Catkin metapackage for KUKA Robotics lab

Packages for using the KUKA Robotics lab at Department of Engineering Cybernetics, NTNU

Setup instructions

1. Install ROS Kinetic

Follow guide for ROS Kinetic at http://wiki.ros.org/kinetic/Installation/Ubuntu

2. Install MoveIT!

sudo apt-get install ros-kinetic-moveit

3. Install ROS-Industrial

sudo apt-get install ros-kinetic-industrial-core

4. Create a catkin workspace

(See http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment )

5. Download needed repositories into CATKIN_WS/src

   1. Need patches to the RSI driver thats not in the offical kuka_experimental repo

   git clone https://github.com/itk-thrivaldi/kuka_experimental.git

   3. URDF and other needed packages

   git clone https://github.com/itk-thrivaldi/thrivaldi_common.git

6. Install missing dependencies

Run rosdep from CATKIN_WS/src

rosdep install --from-paths ./ --ignore-src --rosdistro kinetic -y

7. Compile packages

run catkin_make from CATKIN_WS

8. Test

roslaunch robotlab_moveit_config moveit_planning_execution_kvp.launch sim:=true