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.
45 lines
2.3 KiB
Markdown
45 lines
2.3 KiB
Markdown
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---
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<meta http-equiv="refresh" content="0; url=./getting-started/">
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# Overview
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**Lightweight Cobot (LWC)** is an open system for controlling the **KUKA LBR IIWA 7 R800** collaborative robot based on **ROS 2 Jazzy**. It supports both a physical robot through the FRI protocol and a virtual Webots simulation. The project includes the `cobot` CLI, a ROS 2 Control hardware interface, MoveIt 2 motion planning, and REST/MCP APIs for AI-agent integration.
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## Repositories
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| Platform | Link | Status |
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|---|---|---|
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| **GitVerse** (preferred) | [daniel-robotics/lightweight-cobot](https://gitverse.ru/daniel-robotics/lightweight-cobot) | primary |
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| GitHub | [Daniel-Robotic/lightweight-cobot](https://github.com/Daniel-Robotic/lightweight-cobot) | mirror |
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## Online documentation
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- [GitVerse Pages](https://daniel-robotics.gitverse.site/lightweight-cobot) — primary
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- [GitHub Pages](https://daniel-robotic.github.io/lightweight-cobot/) — mirror
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## Requirements
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- A physical **KUKA LBR IIWA 7 R800** for real-robot operation, or
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- **Webots** if you only want to use simulation;
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- A PC or server running **Ubuntu 24.04**, or SSH access to an existing server;
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- Network access to the robot controller.
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## Recommended order
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1. [**Sunrise Workbench setup**](getting-started/sunrise-setup.md) — prepare the KUKA controller. *(Physical robot only.)*
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2. [**Connect to the server**](getting-started/remote-access.md) — choose local or remote deployment and connect over SSH.
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3. [**Install the project**](getting-started/installation.md) — install LWC using `curl`, `git`, or manually, then run `cobot setup`.
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4. [**Configure the system**](getting-started/configuration.md) — set the robot IP, ports, and tools in `cobot-setting.yaml`.
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5. [**cobot CLI**](getting-started/cli-reference.md) — review commands for running, building, and updating the project.
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!!! tip "Simulation only?"
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If a physical robot is unavailable, skip step 1 and start with the [project installation](getting-started/installation.md). Launch the simulator with `cobot run --simulate`.
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!!! info "`cobot setup` automates steps 3–4"
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After installing the project, run `cobot setup`. The wizard will configure the documentation, robot parameters, and the ROS 2 or Docker build environment.
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