Development of a ROS Driver and Support Stack for the KMR iiwa Mobile Manipulator
Development of a ROS Driver and Support Stack for the KMR iiwa Mobile Manipulator
复制标题
为 KMR iiwa 移动机械手开发 ROS 驱动程序和支持堆栈
DOI：
10.1007/978-3-030-89177-0_31
复制
发表时间：
2021
影响因子：
5.6
通讯作者：
Andrew I. Cooper
中科院分区：
文献类型：
--
作者：
Hatem Fakhruldeen;David A. Marquez;Andrew I. Cooper
移动机械手有望彻底改变机器人应用，因为它们结合了移动性和灵活性。 ROS（机器人操作系统）等机器人中间件是开发这些平台功能和研究其新颖应用的关键组件。在本文中，我们提出了 KMR iiwa 移动机械手的完整 ROS 堆栈。该堆栈包含一个 ROS 驱动程序，具有新颖的架构，在平台控制器上本地运行，以及允许使用 ROS 标准工具和框架进行运动规划、导航、可视化和模拟的基本支持包。据我们所知，这项工作是 KMR iiwa 的第一个 ROS 1（出于本工作的目的，术语 ROS 将指代 ROS 1）软件包。为了展示我们工作的能力，我们展示了模拟和使用真实机器人的示例应用程序。最后，所提出的堆栈用于自主化学实验室背景下的异构多机器人系统。
Mobile manipulators are expected to revolutionise robotics applications because they combine mobility and dexterity. Robotics middlewares such as ROS (Robot Operating System) is a key component to develop the capability of these platforms and to research their novel applications. In this paper, we present a complete ROS stack for the KMR iiwa mobile manipulator. This stack comprises of a ROS driver, with a novel architecture, running natively on the platform controller and the essential support packages that allow motion planning, navigation, visualisation and simulation using ROS standard tools and frameworks. To our knowledge, this work is the firstROS 1(For the purpose of this work the term ROS will refer toROS 1) package for the KMR iiwa. To demonstrate the capabilities of our work, we present example applications both in simulation and using the real robot. Finally, the proposed stack is used in a heterogeneous multi-robot system in the context of an autonomous chemistry laboratory.