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.
767 B
767 B
System architecture
!!! info "Work in progress" A detailed description of the system architecture is being prepared.
LWC is built as a set of interconnected ROS 2 packages. Key components:
- iiwa_bringup — launch files and the entry point for starting the system
- iiwa_controller — hardware interface connecting to the KUKA controller over FRI
- iiwa_planning — MoveIt 2-based motion planning
- iiwa_web — REST API and MCP server for external control
- iiwa_description — URDF robot description and Webots worlds
- iiwa_config — configuration files for MoveIt, controllers, and cameras
- iiwa_utils — helper Python utilities and configuration loading
- iiwa_msgs — custom ROS 2 message types (action and srv)