This repository contains ROS2 drivers for all KUKA operating systems.
| ROS2 Distro | Branch | Github CI | SonarCloud |
|---|---|---|---|
| Jazzy | master |
 |
|
| Humble | humble |
 |
The drivers require a system with ROS installed. It is recommended to use Ubuntu 24.04 with ROS Jazzy.
Additionally, there exists a ROS Humble version of the drivers, and its corresponding configuration can be found under the humble branch.
It is also recommended to use a client machine with a real-time kernel, as all three drivers require cyclic, real-time communication. Due to the real-time requirement, Windows systems are not recommended and covered in the documentation.
The driver is not available as a binary package, building from source is necessary.
Create ROS2 workspace (if not already created).
mkdir -p ~/ros2_ws/srcClone KUKA ROS2 repositories.
cd ~/ros2_ws/src
git clone https://github.com/kroshu/kuka_drivers.git
vcs import < kuka_drivers/upstream.reposInstall and initialize rosdep (if not already done)
sudo apt install python3-rosdep
sudo rosdep initInstall dependencies using rosdep.
cd ~/ros2_ws
rosdep update
sudo apt upgrade
rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO -yBuild all packages in workspace.
cd ~/ros2_ws
colcon buildSource workspace.
# 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.bashNote
As the kuka_external_control_sdk package is designed to work also outside of the ROS2 ecosystem, and is simply wrapped with a package.xml to simplify the setup, the following warnings are expected and can be ignored after sourcing:
not found: "<WS>/install/kuka_external_control_sdk/share/kuka_external_control_sdk/local_setup.bash"
not found: "<WS>/install/kuka_external_control_sdk_examples/share/> kuka_external_control_sdk_examples/local_setup.bash"
Documentation of this project can be found on the repository's Wiki page.
If you find something confusing, not working, or would like to contribute, please read our contributing guide before opening an issue or creating a pull request.