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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