ROS2 KUKA Drivers

Experimental ROS2 driver for KUKA robots. Recommended distribution is ROS 2 Humble Hawksbill:.

ROS2 Iron Irwini has breaking changes, thus it is not yet supported.

Github CI	SonarCloud

Installation

Create ROS2 workspace (if not already created).

mkdir -p ~/ros2_ws/src

Clone KUKA ROS2 repositories.

cd ~/ros2_ws/src
git clone https://github.com/kroshu/kuka_drivers.git
vcs import < kuka_drivers/upstream.repos

Install and initialize rosdep (if not already done)

sudo apt install python3-rosdep
sudo rosdep init

Install dependencies using rosdep.

cd ~/ros2_ws
rosdep update
sudo apt upgrade
rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y

Build KUKA packages.

cd ~/ros2_ws
colcon build

Source built KUKA packages.

# Replace ".bash" with your shell if you're not using bash
# Possible values are: setup.bash, setup.sh, setup.zsh
source ~/ros2_ws/install/setup.bash

Get Started

Documentation of this project can be found on the repository's Wiki page.