iiwa_stack_examples

Sample packages on how to extend iiwa_stack.

This packages are used within the wiki of iiwa_stack to explain some concepts of its usage.
iiwa_stack needs to be present on the system to make these packages work.

In brief, here is contained :

• iiwa_tool: packages that show an example of how to add a tool to the KUKA LBR IIWA description.
• two_iiwa : packages that show an example of how to work with two iiwas (in Gazebo).

Python example

Joint control

Run in first terminal:

roslaunch iiwa_gazebo iiwa_gazebo_with_sunrise.launch

Wait for the model to load, then, into another terminal:

rosrun iiwa_tool_examples joint_pos_ctrl_test.py

Cartesian control

First terminal:

roslaunch iiwa_gazebo iiwa_gazebo_with_sunrise.launch
rosrun iiwa_tool_examples cartesian_pos_ctrl_test.py

Moveit

roslaunch iiwa_gazebo iiwa_gazebo_with_sunrise.launch
roslaunch iiwa_tool_examples iiwa_tool_command_moveit.launch

Actionlib

Joint control

roslaunch iiwa_sim iiwa_sim_roscontrol.launch
roslaunch iiwa_gazebo iiwa_gazebo.launch
rosrun iiwa_tool_examples joint_pos_ctrl_test_action.py

Cartesian control

roslaunch iiwa_sim iiwa_sim_roscontrol.launch
roslaunch iiwa_gazebo iiwa_gazebo.launch
rosrun iiwa_tool_examples cartesian_pos_ctrl_test_action.py