kawasaki

ROS interface to Kawasaki robots.

Network

Set a static IP in range 192.168.2.xxx

Package

• Build the kawasaki_driver package
• Import the driver in python

Notes

• Make sure if you are using ipython to use ipython2 version (otherwise it will not import). Do not use brew version, install through: pip2 install ipython.

Running

• To run a node start: rosrun kawasaki_driver driver_simple.py
• The driver publishes the joint state and current robot pose and subscribes to a pose topic which defines the next target.

Robot

• Turn off Teach mode
• Turn on Motors
• Switch to Repeat mode on the controller

Requirements

• rospy
• geometry_msgs
• sensor_msgs
• std_msgs