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Last pushed: 2 months ago
Short Description
Docker image for autharl_fri
Full Description

Fast Research Interface Wrapper

Wrapper for communication with Kuka LWR4+
using a custom version of Standfords' Fast Research Interface Library

Dependecies

Installation

  1. FRILibrary

    Clone & build the FRILibrary package. [Instructions]

    git clone https://github.com/auth-arl/FRILibrary.git
    cd FRILibrary
    ./build.sh
    
  2. AUTH ARL Core Library

    Clone autharl_core package in ROS Workspace src directory

     git clone https://github.com/auth-arl/autharl_core
    
  3. Fril Wrapper

    Clone fril_wrapper package in ROS Workspace src directory

     git clone https://github.com/auth-arl/autharl_fri
    
  4. Build

    Switch to ROS Workspace root directory & build

     catkin_make
    

Visualization

In order to visualize the robot in rviz you can launch the following file:

roslaunch lwr_description rviz.launch

The launch file also provides the option to visualize the tool in use. Currently the package supports the "handle" tool:

roslaunch lwr_description rviz.launch tool:=handle
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autharl
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