This is the main entry point for using the LBRMed stack and can be used as a template to launch a custom robot configuration. At this package's core are two launch files.
This launch file is used to launch the robot on a hardware system.
It loads the URDF and the hardware interface, and starts the robot controller.
You can choose between the fri or smartservo depending on the robot_app which is executed on the KUKA Sunrise cabinet.
This launch file is used to simulate the robot using fake controllers as a kinematics simulation. It loads the URDF and the simulation parameters, and starts the robot controller.