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