koikonomou/kuka_lra

Kuka robot in LRA

Kuka Package

Kuka package for kr4r600 robot arm located in Duth LRA lab

Requirements : Install Ubuntu 18.04 - ROS melodic

Create a catkin workspace following the intructions: catkin workspace

Make sure that you have added the following lines at the end of your ~/.bashrc file:

source /opt/ros/melodic/setup.bash
source ~/catkin_ws/devel/setup.bash

Go to your ~/catkin_ws/src path:

$ cd ~/catkin_ws/src/

Add clone the following packages:

$ https://github.com/duth-lra/kuka_lra/
$ https://github.com/koikonomou/kuka_experimental

Follow the next commands to intall the packages :

$ cd ..

$ sudo rosdep init
$ rosdep update
$ rosdep install --from-paths src --ignore-src -r -y

$ catkin_make

In order to launch the basic file that open rviz and gazebo simulation on a table with a box run:

roslaunch kuka_gazebo kuka_gazebo.launch