Use shared limits for all seven axes across MoveIt, URDF and FRI.
Apply Ruckig smoothing and continuous JTC spline checks, stretching
trajectory timing to respect velocity, acceleration and jerk limits.
Require fresh stationary feedback for direct trajectories and protect
preparation from concurrent submissions and stop requests.
Add regression tests, dependencies and bilingual FRI documentation.
Include the updated LIN speed-sweep scenario and current 60 ms filter
configuration. Acceleration and jerk limits remain project settings;
physical high-speed twitching is still under investigation.
- Created a new document for the Station interface, detailing its menu structure, process data, safety functions, frames, and smartPAD function buttons.
- Added a document for RobotPowerControl, explaining its purpose for safely shutting down or restarting the KUKA Sunrise Cabinet controller.
- Introduced ServerFriRos2 documentation, outlining its role in establishing an FRI connection between the KUKA LBR iiwa and a ROS 2 computer.
- Documented the TeachKuka application, which allows manual teaching of the KUKA LBR iiwa, including position capturing and trajectory recording.
- Added an overview of Sunrise Workbench, including installation instructions for Windows and Linux.
- Created a section on installing a Windows compatibility tool (PortProton) on Linux.
- Documented the installation process for SunriseWorkbench on Linux using PortProton.
- Added installation instructions for SunriseWorkbench on Windows.
- Created troubleshooting documentation for configuration errors and SSL errors during installation.
- Implemented a hook to generate the shared PDF only during the default-language build.
- Introduced a comprehensive guide for the ServerFriRos2 program, detailing its purpose, setup, and operational procedures.
- Included instructions on configuring network addresses, tool data, initial positions, and FRI cycle periods.
- Provided step-by-step guidance for launching the application and connecting to ROS 2, including troubleshooting tips for connection issues.
- Emphasized safety warnings and operational considerations for using the program with the KUKA LBR iiwa robot.
- Refined introduction to REST API capabilities and usage.
- Added security warnings and best practices for using the API.
- Improved examples for various programming languages (Bash, Python, MATLAB).
- Enhanced endpoint descriptions and added details on request/response structures.
- Clarified the process for moving the robot and handling trajectories.
- Updated sections on sequences and error handling for better clarity.
Eliminates SSL handshake timeouts during rosdep update caused by
unreachable ruby.yaml and fuerte.yaml (ROS 1 legacy sources not
needed for ROS 2 Jazzy).
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- Создана документация по установке эмулятора Windows (PortProton) на Linux.
- Добавлены шаги по установке SunriseWorkbench на Linux с использованием PortProton.
- Создана документация по установке SunriseWorkbench на Windows.
Fixed .gitignore to use /install/ and /build/ with leading slash
so only the root-level colcon dirs are ignored, not
doc/lwc-doc/docs/sunrise/install/.
Adds install pages (Windows, Linux emulator, Linux workbench)
and 22 step-by-step screenshots that were never deployed.
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
- Create libraries.md for library installation instructions in SunriseWorkbench.
- Create load-project.md for importing existing projects in SunriseWorkbench.
- Create new-project.md detailing the process of creating a new project in SunriseWorkbench.
- Add applications.md to describe the applications section in KUKA smartHMI.
- Add extra-menu.md for additional robot control options in KUKA smartHMI.
- Create io-group.md for managing input/output groups in KUKA smartHMI.
- Add robot-menu.md as a placeholder for the robot menu section in KUKA smartHMI.
- Create station.md to outline the main navigation and functionalities in KUKA smartHMI.
- Add LBRserver.md, robot-power-control.md, and teach-kuka.md as placeholders for respective control programs.
- Create config-error.md to provide troubleshooting steps for configuration errors in SunriseWorkbench.
- Add main.html to override base template with site root metadata.
Даниил Грабарь