ROS & ROS2

ROS/ROS2 node

Launching the node

For a single robot (with the default configuration) simply launch:

$ roslaunch libiiwa_ros default.launch

For multiple robots in the same ROS environment it is necessary to define different communication ports and namespaces for each one as follows:

The port (libiiwa_port) must be unique and must also be defined on each robot’s Sunrise project (Controller: Port, editable on the smartHMI).
Namespace (__ns) will prefix each topic and service name to avoid naming conflicts.

$ roslaunch libiiwa_ros default.launch libiiwa_port:=12225 __ns:=robot1

$ roslaunch libiiwa_ros default.launch libiiwa_port:=12226 __ns:=robot2

For a single robot (with the default configuration) simply launch:

$ ros2 launch libiiwa_ros2 default.py

For multiple robots in the same ROS environment it is necessary to define different communication ports and namespaces for each one as follows:

The port (libiiwa_port) must be unique and must also be defined on each robot’s Sunrise project (Controller: Port, editable on the smartHMI).
Namespace (__ns) will prefix each topic and service name to avoid naming conflicts.

$ ros2 launch libiiwa_ros2 default.py libiiwa_port:=12225 __ns:=robot1

$ ros2 launch libiiwa_ros2 default.py libiiwa_port:=12226 __ns:=robot2

Note

After launching the node, program execution is blocked until the Java library installed in the KUKA Sunrise Cabinet is executed via the smartHMI.

Launch parameters

Launch parameters
Launch parameter	Description	Type	Default value
`libiiwa_ip`	IP address of the library communication endpoint (default: all interfaces)	`str`	`"0.0.0.0"`
`libiiwa_port`	Port of the library communication endpoint	`int`	`12225`
`servo_interface`	Whether to enable the servo interface at node startup	`bool`	`true`
`verbose`	Whether to print additional information	`bool`	`false`

Note

Visit MoveIt support for the FollowJointTrajectory actionlib configuration

Launch file: libiiwa_ros/launch/default.launch

<launch>
    <!-- FollowJointTrajectory action: /controller_name/action_namespace -->
    <arg name="controller_name"                 default="iiwa_controller"/>
    <arg name="action_namespace"                default="follow_joint_trajectory"/>
    <arg name="follow_all_trajectory"           default="true"/>
    <arg name="trajectory_update_threshold"     default="0.5"/>

    <!-- libiiwa configuration (see LibIiwa class) -->
    <arg name="libiiwa_ip"                      default="0.0.0.0"/>
    <arg name="libiiwa_port"                    default="12225"/>

    <arg name="servo_interface"                 default="true"/>

    <!-- node configuration -->
    <arg name="verbose"                         default="false"/>

    <!-- launch ROS node -->
    <node name="libiiwa_ros" pkg="libiiwa_ros" type="node.py" output="screen" cwd="node">
        <param name="controller_name"               type="str"      value="$(arg controller_name)"/>
        <param name="action_namespace"              type="str"      value="$(arg action_namespace)"/>
        <param name="follow_all_trajectory"         type="bool"     value="$(arg follow_all_trajectory)"/>
        <param name="trajectory_update_threshold"   type="double"   value="$(arg trajectory_update_threshold)"/>

        <param name="libiiwa_ip"                    type="str"      value="$(arg libiiwa_ip)"/>
        <param name="libiiwa_port"                  type="int"      value="$(arg libiiwa_port)"/>

        <param name="servo_interface"               type="bool"     value="$(arg servo_interface)"/>

        <param name="verbose"                       type="bool"     value="$(arg verbose)"/>
    </node>
</launch>

Launch file: libiiwa_ros2/launch/default.py

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import TextSubstitution
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node


def generate_launch_description():

    namespace_launch_arg = DeclareLaunchArgument(
        "__ns", default_value=TextSubstitution(text="/")
    )

    # FollowJointTrajectory action: /controller_name/action_namespace
    controller_name_launch_arg = DeclareLaunchArgument(
        "controller_name", default_value=TextSubstitution(text="iiwa_controller")
    )
    action_namespace_launch_arg = DeclareLaunchArgument(
        "action_namespace", default_value=TextSubstitution(text="follow_joint_trajectory")
    )
    follow_all_trajectory_launch_arg = DeclareLaunchArgument(
        "follow_all_trajectory", default_value=TextSubstitution(text="True")
    )
    trajectory_update_threshold_launch_arg = DeclareLaunchArgument(
        "trajectory_update_threshold", default_value=TextSubstitution(text="0.5")
    )

    # libiiwa configuration (see LibIiwa class)
    libiiwa_ip_launch_arg = DeclareLaunchArgument(
        "libiiwa_ip", default_value=TextSubstitution(text="0.0.0.0")
    )
    libiiwa_port_launch_arg = DeclareLaunchArgument(
        "libiiwa_port", default_value=TextSubstitution(text="12225")
    )

    servo_interface_launch_arg = DeclareLaunchArgument(
        "servo_interface", default_value=TextSubstitution(text="True")
    )
    
    # node configuration
    verbose_launch_arg = DeclareLaunchArgument(
        "verbose", default_value=TextSubstitution(text="False")
    )

    # ROS2 node
    node = Node(
        package='libiiwa_ros2',
        namespace=LaunchConfiguration('__ns'),
        executable='node',
        name='iiwa',
        parameters=[{
            "__ns": LaunchConfiguration('__ns'),
            "controller_name": LaunchConfiguration('controller_name'),
            "action_namespace": LaunchConfiguration('action_namespace'),
            "follow_all_trajectory": LaunchConfiguration('follow_all_trajectory'),
            "trajectory_update_threshold": LaunchConfiguration('trajectory_update_threshold'),
            "libiiwa_ip": LaunchConfiguration('libiiwa_ip'),
            "libiiwa_port": LaunchConfiguration('libiiwa_port'),
            "servo_interface": LaunchConfiguration('servo_interface'),
            "verbose": LaunchConfiguration('verbose')
        }],
        output='screen',
    )

    return LaunchDescription([
        namespace_launch_arg,
        controller_name_launch_arg,
        action_namespace_launch_arg,
        follow_all_trajectory_launch_arg,
        trajectory_update_threshold_launch_arg,
        libiiwa_ip_launch_arg,
        libiiwa_port_launch_arg,
        servo_interface_launch_arg,
        verbose_launch_arg,
        node
    ])

ROS/ROS2 messages

Services

GetBool.srv

---
bool data       # e.g. if it's ready to move

GetError.srv

---
int32 error_code
int32 NO_ERROR=-10
int32 VALUE_ERROR=-11
int32 INVALID_JOINT_ERROR=-12
int32 SYNCHRONOUS_MOTION_ERROR=-13
int32 ASYNCHRONOUS_MOTION_ERROR=-14
int32 VALIDATION_FOR_IMPEDANCE_ERROR=-15
int32 INVALID_CONFIGURATION_ERROR=-16

GetNumber.srv

---
float64 data    # e.g. for time to destination

SetArray.srv

float64[] data
---
bool success    # indicate successful run of triggered service
string message  # informational, e.g. for error messages

SetNumber.srv

float64 data    # e.g. for desired velocity
---
bool success    # indicate successful run of triggered service
string message  # informational, e.g. for error messages

SetString.srv

string data     # e.g. for configuration modes
---
bool success    # indicate successful run of triggered service
string message  # informational, e.g. for error messages

SetXYZABC.srv

float64 x       # e.g. Cartesian x coordinate
float64 y       # e.g. Cartesian y coordinate
float64 z       # e.g. Cartesian z coordinate
float64 a       # e.g. Cartesian orientation alpha angle
float64 b       # e.g. Cartesian orientation beta angle
float64 c       # e.g. Cartesian orientation gamma angle
---
bool success    # indicate successful run of triggered service
string message  # informational, e.g. for error messages

SetXYZABCParam.srv

float64 x       # e.g. Cartesian x coordinate
float64 y       # e.g. Cartesian y coordinate
float64 z       # e.g. Cartesian z coordinate
float64 a       # e.g. Cartesian orientation alpha angle
float64 b       # e.g. Cartesian orientation beta angle
float64 c       # e.g. Cartesian orientation gamma angle
bool boolean_param      # boolean parameter
float64 float_param     # float parameter. E.g. null_space value
---
bool success    # indicate successful run of triggered service
string message  # informational, e.g. for error messages