Integrating kuka iiwa grl driver with ros industrial changes

[ahundt]

Just found out about https://github.com/ros-industrial-consortium/majorana/pull/2! It looks great! I'm the author of the grl repository, and I'm trying to merge the changes from @rkojcev and a pull request he submitted https://github.com/ahundt/grl/pull/106.

However, there have been some performance improvements to the driver by @Ashkan372 in https://github.com/ahundt/grl/pull/107 that have been merged but conflict slightly with https://github.com/ahundt/grl/pull/106. Therefore, the changes by @rkojcev have two issues with the pull request need to be fixed before I can merge:

1. https://github.com/ahundt/grl/pull/106 will have to be adjusted to correct for the merge conflict in https://github.com/ahundt/grl/pull/107.
2. The pull will need to be patched so the ros industrial repository is an optional dependency for grl when running ROS.

Will anyone be able to assist a bit with this?

[shaun-edwards]

@ahundt, thanks for bringing this to our attention. Let's wait to see if @rkojcev responds. He's starting a new job, but he has expressed interest in continuing the work he started under this repo. If we don't hear anything in a couple of days, feel free to ping/remind me.

[rkojcev]

@ahundt thanks a lot for the proposal. As Shaun mentioned currently I am in a transition period. I will get back to this as soon as possible.

[ahundt]

@shaun-edwards @rkojcev great! Just let me know when I can be of assistance.

[ahundt]

@shaun-edwards @rkojcev any chance of moving forward on this?

[shaun-edwards]

@rkojcev?

[rkojcev]

Hi @ahundt I will try to put some effort during this week and next. Unfortunately I do not have access to the hardware so I could not test if they will work properly...

[ahundt]

Well I can probably test that compilation still works on the grl side and that support for the non ROS version remains functional at least. Might be able to test the ROS bit too with instructions, unless someone here at ros industrial can test it on the hardware?

[gavanderhoorn]

We have an IIWA that I've been meaning to test with GRL for some time now. As I don't have that much free time these days, I'd appreciate some support in setting things up, but we could probably test things.

[ahundt]

@gavanderhoorn sure! happy to help, this repo of scripts can help with automating many dependency setup steps: https://github.com/ahundt/robotics_setup

I also have a kuka setup instructions page which shows how stuff should be connected.

I'm also very close to having an automated travis ci setup with 14.04 that can be used for reference except for placing the kuka FRI code blob in the grl/data folder as described in the setup link above.

@rkojcev did your ROS code and implementation integrate with iiwa_stack at all?

[rkojcev]

I am using just the model from the iiwa stack I have created new moveit package trough the moveit setup assistant and set of messages that correspond to grl.

[ahundt]

@rkojcev @gavanderhoorn Just wanted to touch base on this again. The automated script works now and I've been able to command the arm via ros + smartservo to various positions today.

Also, our configuration for running the arm via ROS is in: https://github.com/cpaxton/costar_stack

With an install script here: https://github.com/ahundt/robotics_setup/blob/master/costar.sh https://github.com/ahundt/robotics_setup/blob/master/grl_kuka.sh