Abstract
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 first ROS 1 (For the purpose of this work the term ROS will refer to ROS 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.
We acknowledge the Leverhulme Trust via the Leverhulme Research Centre for Functional Materials Design for funding.
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Fakhruldeen, H., Marquez-Gamez, D., Cooper, A.I. (2021). Development of a ROS Driver and Support Stack for the KMR iiwa Mobile Manipulator. In: Fox, C., Gao, J., Ghalamzan Esfahani, A., Saaj, M., Hanheide, M., Parsons, S. (eds) Towards Autonomous Robotic Systems. TAROS 2021. Lecture Notes in Computer Science(), vol 13054. Springer, Cham. https://doi.org/10.1007/978-3-030-89177-0_31
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DOI: https://doi.org/10.1007/978-3-030-89177-0_31
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