Ridgeback + iiwa Integration

Tested on Ubuntu 18.04 with ROS Melodic.

This repository provides our customed ridgeback integration with KUKA LBR iiwa 7 R800. Supporting Moveit! and ROS navigation stack.

Build and Compile

1. Clone this repository:

mkdir ros_ws && cd ros_ws && mkdir src
catkin_init_workspace
cd src
git clone https://github.com/daeunSong/ridgeback_iiwa_integration.git

2. Clone iiwa related repository:

git clone -b glab/drawing https://github.com/daeunSong/iiwa_stack.git

3. Clone ridgeback related repositories:

git clone https://github.com/ridgeback/ridgeback.git
git clone https://github.com/ridgeback/ridgeback_desktop.git
git clone https://github.com/ridgeback/ridgeback_simulator.git

4. [Optional] Clone the example repositories:

git clone https://github.com/daeunsong/iiwa_examples.git
git clone https://github.com/daeunsong/ridgeback_examples.git

5. Install the dependencies:

cd ..
rosdep install --from-paths src --ignore-src -r -y

6. Build the workspace:

catkin build

7. Add a parameter for robot description:

echo "export RIDGEBACK_URDF_EXTRAS=$(catkin_find ridgeback_iiwa_description urdf/ridgeback_iiwa_robot.urdf.xacro --first-only)" >> ~/.bashrc

8. Source the workspace:

source devel/setup.bash

You can also add this line in ~/.bashrc, but be aware that this has to be above the line in step 7.

Demo

For a quick demo, run the following commands in respective terminals. Please refer to the documentation for more details.

1. Run gazebo and bring up the robot model

roslaunch ridgeback_iiwa_gazebo ridgeback_iiwa_gazebo.launch 

2. Run mobile manipulation demo

roslaunch ridgeback_iiwa_manipulation mobile_manipulation_interactive_demo.launch

References

• ridgeback_manipulation
• turtlebot3_manipulation

Contact

All bug reports, feedback, comments, contributions or remarks are welcome.

• Daeun Song, Ewha Womans University