Experimental ROS2 driver for KUKA robots. Recommended distribution is ROS 2 Humble Hawksbill:.
ROS2 Iron Irwini has breaking changes, thus it is not yet supported.
Github CI | SonarCloud |
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Create ROS2 workspace (if not already created).
mkdir -p ~/ros2_ws/src
Clone KUKA ROS2 repositories.
cd ~/ros2_ws/src
git clone https://github.com/kroshu/kuka_drivers.git
vcs import < kuka_drivers/upstream.repos
Install and initialize rosdep (if not already done)
sudo apt install python3-rosdep
sudo rosdep init
Install dependencies using rosdep
.
cd ~/ros2_ws
rosdep update
sudo apt upgrade
rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
Build KUKA packages.
cd ~/ros2_ws
colcon build
Source built KUKA packages.
# Replace ".bash" with your shell if you're not using bash
# Possible values are: setup.bash, setup.sh, setup.zsh
source ~/ros2_ws/install/setup.bash
Documentation of this project can be found on the repository's Wiki page.