ROS & ROS2: Motion and control configuration

Control mode

The KUKA LBR iiwa can be operated with a number of different controllers

Default service name	Service type (srv)	Allowed values (case-insensitive)
`/iiwa/set_control_mode`	libiiwa_msgs/SetString	`POSITION`, `JOINT_IMPEDANCE`, `CARTESIAN_IMPEDANCE`, `CARTESIAN_SINE_IMPEDANCE`

Example:

$ rosservice call /iiwa/set_control_mode "{data: 'POSITION'}"
# or
$ rosservice call /iiwa/set_control_mode "{data: 'position'}"

import rospy
import libiiwa_msgs.srv

# wait for service
rospy.wait_for_service('/iiwa/set_control_mode')

# create a handle for calling the service
proxy = rospy.ServiceProxy('/iiwa/set_control_mode', libiiwa_msgs.srv.SetString)

# call service
response = proxy("POSITION")  # or "position"

print("success:", response.success)
print("message:", response.message)

$ ros2 service call /iiwa/set_control_mode libiiwa_msgs/srv/SetString "{data: 'POSITION'}"
# or
$ ros2 service call /iiwa/set_control_mode libiiwa_msgs/srv/SetString "{data: 'position'}"

import rclpy
from rclpy.node import Node

from libiiwa_msgs.srv import SetString

# initialize the ROS node
rclpy.init()
node = Node('test')

# create a client for calling the service
client = node.create_client(SetString, '/iiwa/set_control_mode')

# wait for service
client.wait_for_service()

# call service
request = SetString.Request()
request.data = "POSITION"  # or "position"
future = client.call_async(request)
rclpy.spin_until_future_complete(node, future)
response = future.result()

print("success:", response.success)
print("message:", response.message)

# shutdown the node
node.destroy_node()
rclpy.shutdown()

Motion type

The KUKA LBR iiwa can programmed to perform different types of motion

Default service name	Service type (srv)	Allowed values (case-insensitive)
`/iiwa/set_motion_type`	libiiwa_msgs/SetString	`PTP`, `LIN`, `LIN_REL`, `CIRC`

Example:

$ rosservice call /iiwa/set_motion_type "{data: 'LIN'}"
# or
$ rosservice call /iiwa/set_motion_type "{data: 'lin'}"

import rospy
import libiiwa_msgs.srv

# wait for service
rospy.wait_for_service('/iiwa/set_motion_type')

# create a handle for calling the service
proxy = rospy.ServiceProxy('/iiwa/set_motion_type', libiiwa_msgs.srv.SetString)

# call service
response = proxy("LIN")  # or "lin"

print("success:", response.success)
print("message:", response.message)

$ ros2 service call /iiwa/set_motion_type libiiwa_msgs/srv/SetString "{data: 'LIN'}"
# or
$ ros2 service call /iiwa/set_motion_type libiiwa_msgs/srv/SetString "{data: 'lin'}"

import rclpy
from rclpy.node import Node

from libiiwa_msgs.srv import SetString

# initialize the ROS node
rclpy.init()
node = Node('test')

# create a client for calling the service
client = node.create_client(SetString, '/iiwa/set_motion_type')

# wait for service
client.wait_for_service()

# call service
request = SetString.Request()
request.data = "LIN"  # or "lin"
future = client.call_async(request)
rclpy.spin_until_future_complete(node, future)
response = future.result()

print("success:", response.success)
print("message:", response.message)

# shutdown the node
node.destroy_node()
rclpy.shutdown()

Control interface

The KUKA LBR iiwa can be operated with a number of different motion classes

Default service name	Service type (srv)	Allowed values (case-insensitive)
`/iiwa/set_control_interface`	libiiwa_msgs/SetString	`STANDARD`, `SERVO`

Example:

$ rosservice call /iiwa/set_control_interface "{data: 'STANDARD'}"
# or
$ rosservice call /iiwa/set_control_interface "{data: 'standard'}"

import rospy
import libiiwa_msgs.srv

# wait for service
rospy.wait_for_service('/iiwa/set_control_interface')

# create a handle for calling the service
proxy = rospy.ServiceProxy('/iiwa/set_control_interface', libiiwa_msgs.srv.SetString)

# call service
response = proxy("STANDARD")  # or "standard"

print("success:", response.success)
print("message:", response.message)

$ ros2 service call /iiwa/set_control_interface libiiwa_msgs/srv/SetString "{data: 'STANDARD'}"
# or
$ ros2 service call /iiwa/set_control_interface libiiwa_msgs/srv/SetString "{data: 'standard'}"

import rclpy
from rclpy.node import Node

from libiiwa_msgs.srv import SetString

# initialize the ROS node
rclpy.init()
node = Node('test')

# create a client for calling the service
client = node.create_client(SetString, '/iiwa/set_control_interface')

# wait for service
client.wait_for_service()

# call service
request = SetString.Request()
request.data = "STANDARD"  # or "standard"
future = client.call_async(request)
rclpy.spin_until_future_complete(node, future)
response = future.result()

print("success:", response.success)
print("message:", response.message)

# shutdown the node
node.destroy_node()
rclpy.shutdown()

Execution type

Motion commands can be executed synchronously or asynchronously

Default service name	Service type (srv)	Allowed values (case-insensitive)
`/iiwa/set_execution_type`	libiiwa_msgs/SetString	`ASYNCHRONOUS`, `SYNCHRONOUS`

Example:

$ rosservice call /iiwa/set_execution_type "{data: 'ASYNCHRONOUS'}"
# or
$ rosservice call /iiwa/set_execution_type "{data: 'asynchronous'}"

import rospy
import libiiwa_msgs.srv

# wait for service
rospy.wait_for_service('/iiwa/set_execution_type')

# create a handle for calling the service
proxy = rospy.ServiceProxy('/iiwa/set_execution_type', libiiwa_msgs.srv.SetString)

# call service
response = proxy("ASYNCHRONOUS")  # or "asynchronous"

print("success:", response.success)
print("message:", response.message)

$ ros2 service call /iiwa/set_execution_type libiiwa_msgs/srv/SetString "{data: 'ASYNCHRONOUS'}"
# or
$ ros2 service call /iiwa/set_execution_type libiiwa_msgs/srv/SetString "{data: 'asynchronous'}"

import rclpy
from rclpy.node import Node

from libiiwa_msgs.srv import SetString

# initialize the ROS node
rclpy.init()
node = Node('test')

# create a client for calling the service
client = node.create_client(SetString, '/iiwa/set_execution_type')

# wait for service
client.wait_for_service()

# call service
request = SetString.Request()
request.data = "ASYNCHRONOUS"  # or "asynchronous"
future = client.call_async(request)
rclpy.spin_until_future_complete(node, future)
response = future.result()

print("success:", response.success)
print("message:", response.message)

# shutdown the node
node.destroy_node()
rclpy.shutdown()