Kuka package for kr4r600 robot arm located in Duth LRA lab
Requirements : Install Ubuntu 18.04 - ROS melodic
Create a catkin workspace following the intructions: catkin workspace
Make sure that you have added the following lines at the end of your ~/.bashrc file:
source /opt/ros/melodic/setup.bash
source ~/catkin_ws/devel/setup.bash
Go to your ~/catkin_ws/src path:
$ cd ~/catkin_ws/src/
Add clone the following packages:
$ https://github.com/duth-lra/kuka_lra/
$ https://github.com/koikonomou/kuka_experimental
Follow the next commands to intall the packages :
$ cd ..
$ sudo rosdep init
$ rosdep update
$ rosdep install --from-paths src --ignore-src -r -y
$ catkin_make
In order to launch the basic file that open rviz and gazebo simulation on a table with a box run:
roslaunch kuka_gazebo kuka_gazebo.launch