Kuka Setup

Setup Software for kuka

1. After installing Ubuntu run the installation script. NOTE : run the following commands to ensure installation of these packages.

pip3 install breathe
sudo apt install libcereal-dev libedit-dev doxygen

2. create a directory devel and clone the treep_machines_in_motion package
3. treep --clone DG_KUKA (clones kuka, kuka drivers, dynamic_graph_manager, dynamic_graph_manager dependencies, dynamic graph head, robot_properties_kuka)
4. Turn off ROS in the CMake file in Dynamic graph Manager
5. build the workspace in release mode colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release -DPYBIND11_TEST=OFF -DBUILD_TESTING=OFF

One Time Setups for Kuka communication

1. Ensure that the Ethernet port from the Kuka box is connected to your PC
2. Add yourself to the realtime user group
3. Run sudo chown {username} /dev/cpu_dma_latency. Refer to the NYU MIM wiki for more info
4. Configure the Ethernet port following the instructions on the NYU MIM Wiki