rosrun rosserial_arduino make_libraries.py /home/fu/repos/fortiss_knob/lib

Open the simulation and the rosserial node:

$ roslaunch knob_robot_control lwr_sim.launch
$ roslaunch knob_robot_control rosserial.launch

Then Start the lwr_controller node:

$ rosrun knob_robot_control lwr_controller.py

ssh [email protected]
roslaunch iiwa_driver start.launch

cobot_mode
roslaunch knob_robot_control rosserial.launch

roslaunch knob_robot_control knob_controller.launch

TODO:

GUI interface for the robot control

pip install -U pip
pip install pyqt5 --config-settings --confirm-license= --verbose

Frist, you need to change the robot IP in the src/robot_movement_interface/iiwa_driver/ros/config/config.yaml

Then open the terminals and run the following commands:

roslaunch iiwa_driver start.launch
rosrun knob_robot_control robot_controller.py

roslaunch iiwa_driver start.launch
roslaunch knob_robot_control knob_controller.launch

[WARN] [1705503647.144380]: linstiff move : -83.7400034070015 454.6999931335449 254.67917323112488 0.0 -0.0 3.140000104904175 0.10000000149011612 700 5.0 5.0 5.0 0.1 0.1 0.1

[WARN] [1705503742.630102]: linstiff move-83.7400034070015 : 454.6999931335449 : 259.09721851348877 : 0.0 : -0.0 : 3.140000104904175 0.10000000149011612 700 5.0 5.0 5.0 0.1 0.1 0.1