Integrated ROS capabilities for planning, predicate inference, gripper control, and perception for use with the KUKA LBR IIWA and Universal Robots.
This describes tools and systems for reproducing our implementation of the CoSTAR system on a KUKA LBR iiwa 14. The particular combination of the LBR iiwa and the Robotiq 3-finger gripper gives us a powerful range of capabilities.
We provide a model-based approach for hand-eye calibration.
We used the Robotiq kit for adapting a 3-finger gripper to a touch IO flange.
Image of marker placement in the robot:
Image of marker placement in rviz:
You can easily run the simulation with:
roslaunch costar_bringup iiwa_s_model.launch sim:=true
It may be helpful to launch different components separately:
roslaunch iiwa_gazebo iiwa_gazebo.launch trajectory:=false # simulation
roslaunch costar_bringup sim:=true start_sim:=false
To show a visualization:
roslaunch costar_bringup rviz.launch
The yellow grid is offset from the camera frame.