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.
633 B
633 B
Control via ROS 2
!!! info "Work in progress" Detailed instructions for control through ROS 2 topics and action servers are being prepared.
This method sends commands directly to ROS 2 using CLI tools (ros2 topic pub, ros2 action send_goal) or custom ROS 2 nodes written in Python or C++.
Additional resources
- ROS 2 Jazzy documentation — official documentation for topics, services, action servers, and node development
- MATLAB Robotics System Toolbox — control the robot through ROS 2 from MATLAB