Control Kuka manipulator with robonomics.

Video with an example of work can be found here

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Requirements

• ROS melodic, Gazebo (installation instraction here)
• Some extra packages

sudo apt-get install ros-melodic-gazebo-ros-control ros-melodic-effort-controllers ros-melodic-joint-state-controller

• IPFS 0.4.22 (download from here and install)

tar -xvzf go-ipfs_v0.4.22_linux-386.tar.gz
cd go-ipfs/
sudo bash install.sh
ipfs init

• ipfshttpclient

pip3 install ipfshttpclient

• substrate-interface

pip3 install substrate-interface

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Installation

Install Kuka manipulator and control packages

cd catkin_wc/src/
git clone https://github.com/orsalmon/kuka_manipulator_gazebo
https://github.com/tubleronchik/neon-kuka-demo.git
cd ..
catkin_make

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Configuration

Make scripts executable:

cd catkin_wc/src/neon-kuka-demo
chmod +x liability/send_liability.js
chmod +x liability/liability_finalization.js

Copy config template:

cp config/config_template config/config

And add there accounts credentials.

Running gazebo model

source ~/catkin_ws/devel/setup.bash
roslaunch manipulator_gazebo manipulator_empty_world.launch

In a new window

source ~/catkin_ws/devel/setup.bash
rosrun manipulator_gazebo move_arm_server

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Running ipfs

Run ipfs daemon:

ipfs daemon

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Running control package

Now you can run control script:

source ~/catkin_ws/devel/setup.bash
rosrun neon-kuka-demo move_arm_client.py