iiwa_qbhand

• iiwa_qbhand_description : a URDF for a KUKA LBR IIWA robot with a qbhand attached and a rigid base.
• iiwa_qbhand_moveit : a MoveIt! package to work with the robot description just defined.
• iiwa_qbhand_bringup: a package to bringup LBR iiwa and qbhand.

Dependencies

• iiwa_stack: ROS integration for the KUKA LBR IIWA R800/R820 (7/14 Kg).
• qbhand: A package contains the ROS nodes aimed to visualize and control the qbrobotics® qbhand device.

Supported ROS Distribution

ROS Melodic.

Usage

After installing all the dependencies, you can:

• Visualize in RVIZ:

roslaunch iiwa_qbhand_moveit demo.launch

• Real robot control:

roslaunch iiwa_qbhand_moveit moveit_planning_execution.launch sim:=false

The rqt_graph:

Other Branches

This branch master holds iiwa and ur in two different namespace, if you prefect a unified namespace version, you can try this branch all-in-one-namespace, whose almost all nodes and topics are included in a same namespace, iiwa by default.

TO DO

• GAZEBO simulation supported.