Integrated ROS capabilities for planning, predicate inference, gripper control, and perception for use with the KUKA LBR IIWA and Universal Robots.
This implements the core capabilities for using various robots with CoSTAR.
The main thing to look at is CostarArm in the costar_robot_manager package. To use CoSTAR with a new robot, you need to extend this class for your application To use CoSTAR with a new robot, you need to extend this class for your application.