KinovaArmController

A ROS2 Node for controlling a Kinova 6 axis arm
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About this Project

This project is a ROS2 Node for controlling a Kinova 6 axis arm, it contains the node and a KinovaApi Wrapper.

Tech Stack :

Setup

Install Kinova Tools

Download and install the Kinova SDK and GUI Tool

• Go to : https://www.kinovarobotics.com/resources
• Search for the Gen2 SDK v1.5.1

Install ROS2

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Source and Run

Listen up for five minutes because this gets complicated really quick

Step one is going to be installing moveit because its has some dependancies that for some reason cant be installed alone and the only doc they provide gives you how to set it up using their tutorial ( and because we are not bozos we dont want to push their code onto our codebase )

so from the code pull you start by sourcing their examples ( assuming you setup a workspace already at mkdir -p ~/ros2_ws/src )

cd ~/ros2_ws/src
git clone -b humble https://github.com/moveit/moveit2_tutorials

vcs import --recursive < moveit2_tutorials/moveit2_tutorials.repos

sudo apt remove ros-$ROS_DISTRO-moveit*

sudo apt update && rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y

cd ~/ros2_ws
colcon build --mixin release --parallel-workers 1

then after that you can start compiling the arm_controller and arm_trajectory_controller

colcon build --symlink-install --packages-select arm_controller
colcon build --mixin release --packages-select arm_trajectory_controller
colcon build --symlink-install --packages-select rove_config

source ~/ros2_ws/install/setup.bash
ros2 launch arm_controller arm_launch.py
`

colcon build --symlink-install --packages-select arm_controller
colcon build --mixin release --packages-select arm_trajectory_controller

colcon build --symlink-install --packages-select rove_description
colcon build --symlink-install --packages-select rove_config

source ~/ros2_ws/install/setup.bash

ros2 launch foxglove_bridge foxglove_bridge_launch.xml

ros2 launch arm_controller arm_launch.py
ros2 launch arm_controller arm_test_launch.py

ros2 launch arm_trajectory_controller arm_trajectory_controller.launch.py

export QT_QPA_PLATFORM=xcb
export OGRE_RHI=GL3
ros2 launch rove_config servo_example.launch.py

export QT_QPA_PLATFORM=xcb
export OGRE_RHI=GL3
ros2 launch rove_config demo.launch.py

ros2 run rove_config servo_keyboard_input

Annex

Arm

Spec sheet: kinova_gen2_spherical_spec_sheet.pdf User Guide: kinova_gen2_user_guide.pdf

Actuators

Spec sheet: kinova_actuator_series_ka75+_ka-58_specifications.pdf User Guide: kinova_actuator_series_user_guide.pdf

Controller

Spec sheet: kinova_controller_specifications.pdf

License

Distributed under proprietary license. See LICENSE.md for more informations.