Configuration and Control of KMR iiwa Mobile Robots using ROS2

摘要

In this paper, we present a novel system for controlling a KMR iiwa mobile robot using ROS2. The KMR iiwa is a mobile robot with a manipulator mounted on the base that is developed by the robot manufacturer KUKA. The developed system integrates with the Sunrise.OS operating system of the mobile robot and exposes sensor and control interfaces over UDP and TCP sockets. The controllability of the mobile robot from ROS2 is verified using the Cartographer and Navigation2 projects.