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.
6.2 KiB
System configuration
Main configuration file
All system parameters are stored in a single file: cobot-setting.yaml in the project root. It is the single source of truth for the robot IP address, ports, configuration paths, planner settings, and web server settings.
!!! info "No manual configuration is needed before installation"
When you run cobot setup, the wizard offers to configure this file automatically in step 2. Return to this section when you want to change parameters after the initial installation.
!!! danger "Do not edit the file manually"
Use only cobot robot-setup. The interactive wizard validates values and prevents syntax errors. Editing the YAML manually may cause parsing errors and prevent the system from starting.
cobot robot-setup
robot section — robot parameters
Controls the connection to the physical KUKA controller through FRI.
robot:
name: "iiwa7"
ip: "192.170.10.2"
port: 30200
fri_cycle_ms: 10
joint_position_tau: 0.04
joint_velocity_tau: 0.01
active_controller: "jtc"
description: pkg://iiwa_description/urdf/iiwa7.urdf.xacro
| Parameter | Description | Recommendation |
|---|---|---|
name |
Robot model | Do not change: iiwa7 |
ip |
KUKA controller IP address | Change to the actual controller address |
port |
FRI UDP port | Default: 30200; change only if the port conflicts |
fri_cycle_ms |
FRI cycle: 5 ms = 200 Hz, 10 ms = 100 Hz |
Use 10 for stable operation or 5 for high-precision tasks |
joint_position_tau |
Position EMA filter [s], smoothing commands before transmission | Decrease for a faster response; increase if vibration occurs |
joint_velocity_tau |
Velocity EMA filter [s], removing finite-difference spikes | Tune in the same way as joint_position_tau |
active_controller |
Control mode: jtc (MoveIt / JointTrajectory) or forward (direct control) |
Use jtc for most tasks |
description |
Path to the robot URDF | Do not change |
digital_twin section — simulator
Configures the Webots environment and RViz visualization.
digital_twin:
webots:
world: pkg://iiwa_description/worlds/iiwa.wbt
transform: "-0.25 0 0.79"
rotation: "0 0 1 0"
controller_timer: "50"
cameras:
- pkg://iiwa_config/config/cameras/d455_top.yaml
rviz:
config: pkg://iiwa_config/config/rviz/rviz_moveit.rviz
| Parameter | Description |
|---|---|
webots.world |
Path to the simulator .wbt world |
webots.transform |
Robot base offset in the world [x y z], in meters |
webots.rotation |
Base orientation [x y z angle], in radians |
webots.cameras |
List of YAML configurations for connected cameras |
rviz.config |
Path to the RViz configuration |
tool section — active tool
Specifies which gripper or tool is attached to the robot.
tool:
active: "patron"
| Value | Description |
|---|---|
none |
No tool |
patron |
Patron chuck/gripper |
Available tools are defined in src/iiwa_config/config/tools.yaml. To add a tool, describe it there and then set its name in tool.active.
planning section — motion planning
Configures MoveIt 2 and the trajectory planner.
planning:
pose_link: "tcp"
planning_group: "iiwa_arm"
default_frame: "base_link"
default_planner: "ompl"
planning_attempts: 3
| Parameter | Description | Recommendation |
|---|---|---|
pose_link |
TCP link used for Cartesian targets | Must match the URDF frame; do not change without updating the URDF |
planning_group |
Planning group from the SRDF | Do not change: iiwa_arm |
default_frame |
Default reference frame | Do not change: base_link |
default_planner |
Planner: ompl or pilz_industrial_motion_planner |
ompl is general purpose; pilz produces predictable trajectories |
planning_attempts |
Number of planning attempts after failure | Increase for difficult trajectories |
web section — REST API and MCP server
Configures the FastAPI server used to control the robot over HTTP and MCP for AI-agent integration.
web:
enabled: true
host: "0.0.0.0"
port: 8007
endpoints: pkg://iiwa_config/config/api_endpoints.yaml
joint_limits: pkg://iiwa_config/config/moveit/joint_limits.yaml
| Parameter | Description |
|---|---|
enabled |
Enable (true) or disable (false) the web server |
host |
Listening address: 0.0.0.0 for all interfaces or 127.0.0.1 for local access only |
port |
HTTP API port; default: 8007 |
endpoints |
Path to the REST endpoint description |
joint_limits |
Path to joint limits used for command validation |
After startup, the REST API is available at http://<host>:8007, and MCP is available at /mcp.
foxglove section — Foxglove Studio monitoring
Foxglove Studio visualizes and monitors ROS 2 topics in real time.
foxglove:
enabled: true
port: 8765
debug: false
address: 0.0.0.0
| Parameter | Description |
|---|---|
enabled |
Enable or disable Foxglove Bridge |
port |
WebSocket port used by Foxglove Studio; default: 8765 |
debug |
Detailed logging for the bridge process |
address |
WebSocket listening address |
The remaining parameters (tls, topic_whitelist, min_qos_depth, and others) are intended for advanced configuration and normally do not need to be changed.
What to change and what to keep
| Parameter | Action | |
|---|---|---|
| ✅ | robot.ip |
Must be changed to the controller IP address |
| ✅ | robot.fri_cycle_ms |
Select 10 (standard) or 5 (high frequency) |
| ✅ | tool.active |
Set the active tool |
| ✅ | web.enabled |
Set to false if the web interface is not needed |
| ⚠️ | robot.active_controller |
Change only when intentionally switching the control mode |
| ⚠️ | planning.* |
Change only when another planner or other parameters are required |
| ❌ | robot.description |
Do not change; this is the URDF path |
| ❌ | controller.moveit.* |
Do not change; these are package-internal MoveIt configuration paths |
| ❌ | digital_twin.webots.world |
Do not change unless you understand the Webots world structure |