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FAQ
In general, the stack relies on the Connectivity package of Sunrise Workbench. Therefore you need a version of Sunrise Workbench with that package installed.
If you plan to buy an iiwa and you want to use iiwa_stack, be clear with KUKA that you need Connectivity.
The Connectivity package is not available for every version of Sunrise.OS, so far it was available for odd versions (1.5, 1.7, 1.9).
If you don't have the Connectivity package, ask KUKA for it.
If you have a version of Sunrise.OS that doesn't support Connectivity, ask KUKA for a newer version that supports it.
Do you have the newest version of Sunrise.OS and it doesn't support Connectivity? Read about downgrade...
You can't by yourself downgrade to a previous version of Sunrise.
With every new version you install also a new PDS Firmware on the robot, that can only be reverted by KUKA itself and I am not sure they normally do it for customers. Ask them.
It is within ROSMonitor and your could achieve the same behaviour changing the control mode at runtime. Check also issue #6