Даниил Грабарь
79d88db930
- 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.
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Motion planning
!!! info "Work in progress" A detailed description of motion planning is being prepared.
LWC uses MoveIt 2, the standard motion-planning framework for ROS 2.
Key concepts
- Planning group (
iiwa_arm) — the set of joints for which a plan is generated. Defined in SRDF. - Planner — the trajectory-generation algorithm. Available planners:
ompl— general-purpose probabilistic planner (default)pilz_industrial_motion_planner— deterministic PTP, LIN, and CIRC trajectories
- TCP (Tool Center Point) — the tool point for which the target pose is specified. Set in
cobot-setting.yaml→planning.pose_link. - Reference frame — the coordinate system for targets. Default:
base_link.
cobot-setting.yaml settings
| Parameter | Description |
|---|---|
planning.default_planner |
Default planner: ompl or pilz_industrial_motion_planner |
planning.planning_attempts |
Number of attempts after a planning failure |
planning.pose_link |
TCP link for Cartesian targets |