This repository contains a ROS package to test the ROS2 CBun on the Kassow KR1410 Gen 2 robotic manipulator
Open docker-compose.yml and configure the following environment variables as needed:
Name | Default | Description |
---|---|---|
ROS_DOMAIN_ID |
10 | ROS2 domain ID matching CBun settings |
Build the Docker image using docker-compose
:
cd docker
docker compose build
Run the Docker image using docker-compose
:
cd docker
CURRENT_UID=$(id -u):$(id -g) docker compose run kr_test NODE_NAME
where NODE_NAME
may be chosen from the following options:
Name | Description |
---|---|
velocity_node.py |
Publish sinusoidal command to /kr/motion/jog_joint |
position_node.py |
Publish sinusoidal command to /kr/motion/follow_joint |
Note: by default the docker image runs as a non-root user, so the environment variable
CURRENT_UID
must be supplied as shown above