├── .github └── workflows │ ├── ci_bionic.yml │ └── ci_focal.yml ├── .gitignore ├── CONTRIBUTING.md ├── LICENSE ├── README.md ├── kuka_eki_hw_interface ├── CMakeLists.txt ├── config │ ├── controller_joint_names.yaml │ └── hardware_controllers.yaml ├── include │ └── kuka_eki_hw_interface │ │ └── kuka_eki_hw_interface.h ├── krl │ ├── EkiHwInterface.xml │ ├── README.md │ ├── kuka_eki_hw_interface.dat │ └── kuka_eki_hw_interface.src ├── launch │ ├── controller_spawner.launch │ └── robot_interface_streaming.launch ├── package.xml ├── src │ ├── kuka_eki_hw_interface.cpp │ └── kuka_eki_hw_interface_node.cpp └── test │ ├── test_hardware_interface.launch │ └── test_params.yaml ├── kuka_experimental ├── CMakeLists.txt └── package.xml ├── kuka_kr10_support ├── CMakeLists.txt ├── config │ ├── joint_names_kr10r1100sixx.yaml │ ├── joint_names_kr10r1420.yaml │ ├── joint_names_kr10r900_2.yaml │ └── opw_parameters_kr10r1420.yaml ├── launch │ ├── load_kr10r1100sixx.launch │ ├── load_kr10r1420.launch │ ├── load_kr10r900_2.launch │ ├── test_kr10r1100sixx.launch │ ├── test_kr10r1420.launch │ └── test_kr10r900_2.launch ├── meshes │ ├── kr10r1100sixx │ │ ├── collision │ │ │ ├── base_link.stl │ │ │ ├── link_1.stl │ │ │ ├── link_2.stl │ │ │ ├── link_3.stl │ │ │ ├── link_4.stl │ │ │ ├── link_5.stl │ │ │ └── link_6.stl │ │ └── visual │ │ │ ├── base_link.stl │ │ │ ├── link_1.stl │ │ │ ├── link_2.stl │ │ │ ├── link_3.stl │ │ │ ├── link_4.stl │ │ │ ├── link_5.stl │ │ │ └── link_6.stl │ ├── kr10r1420 │ │ ├── collision │ │ │ ├── base_link.stl │ │ │ ├── link_1.stl │ │ │ ├── link_2.stl │ │ │ ├── link_3.stl │ │ │ ├── link_4.stl │ │ │ ├── link_5.stl │ │ │ └── link_6.stl │ │ └── visual │ │ │ ├── base_link.stl │ │ │ ├── link_1.stl │ │ │ ├── link_2.stl │ │ │ ├── link_3.stl │ │ │ ├── link_4.stl │ │ │ ├── link_5.stl │ │ │ └── link_6.stl │ └── kr10r900_2 │ │ ├── collision │ │ ├── base_link.stl │ │ ├── link_1.stl │ │ ├── link_2.stl │ │ ├── link_3.stl │ │ ├── link_4.stl │ │ ├── link_5.stl │ │ └── link_6.stl │ │ └── visual │ │ ├── base_link.stl │ │ ├── link_1.stl │ │ ├── link_2.stl │ │ ├── link_3.stl │ │ ├── link_4.stl │ │ ├── link_5.stl │ │ └── link_6.stl ├── package.xml ├── test │ ├── roslaunch_test_kr10r1100sixx.xml │ ├── roslaunch_test_kr10r1420.xml │ └── roslaunch_test_kr10r900_2.xml └── urdf │ ├── kr10r1100sixx.xacro │ ├── kr10r1100sixx_macro.xacro │ ├── kr10r1420.xacro │ ├── kr10r1420_macro.xacro │ ├── kr10r900_2.xacro │ └── kr10r900_2_macro.xacro ├── kuka_kr120_support ├── CMakeLists.txt ├── config │ └── joint_names_kr120r2500pro.yaml ├── launch │ ├── load_kr120r2500pro.launch │ └── test_kr120r2500pro.launch ├── meshes │ └── kr120r2500pro │ │ ├── collision │ │ ├── base_link.stl │ │ ├── link_1.stl │ │ ├── link_2.stl │ │ ├── link_3.stl │ │ ├── link_4.stl │ │ ├── link_5.stl │ │ └── link_6.stl │ │ └── visual │ │ ├── base_link.dae │ │ ├── link_1.dae │ │ ├── link_2.dae │ │ ├── link_3.dae │ │ ├── link_4.dae │ │ ├── link_5.dae │ │ └── link_6.dae ├── package.xml ├── test │ └── roslaunch_test.xml └── urdf │ ├── kr120r2500pro.urdf │ ├── kr120r2500pro.xacro │ └── kr120r2500pro_macro.xacro ├── kuka_kr150_support ├── CMakeLists.txt ├── config │ ├── joint_names_kr150.yaml │ └── opw_parameters_kr150r3100_2.yaml ├── launch │ ├── load_kr150_2.launch │ ├── load_kr150r3100_2.launch │ ├── test_kr150_2.launch │ └── test_kr150r3100_2.launch ├── meshes │ ├── kr150_2 │ │ ├── collision │ │ │ ├── base_link.stl │ │ │ ├── link_1.stl │ │ │ ├── link_2.stl │ │ │ ├── link_3.stl │ │ │ ├── link_4.stl │ │ │ ├── link_5.stl │ │ │ └── link_6.stl │ │ └── visual │ │ │ ├── base_link.dae │ │ │ ├── link_1.dae │ │ │ ├── link_2.dae │ │ │ ├── link_3.dae │ │ │ ├── link_4.dae │ │ │ ├── link_5.dae │ │ │ └── link_6.dae │ └── kr150r3100_2 │ │ ├── collision │ │ ├── base_link.stl │ │ ├── link_1.stl │ │ ├── link_2.stl │ │ ├── link_3.stl │ │ ├── link_4.stl │ │ ├── link_5.stl │ │ └── link_6.stl │ │ └── visual │ │ ├── base_link.stl │ │ ├── link_1.stl │ │ ├── link_2.stl │ │ ├── link_3.stl │ │ ├── link_4.stl │ │ ├── link_5.stl │ │ └── link_6.stl ├── package.xml ├── test │ ├── roslaunch_test.xml │ └── roslaunch_test_kr150r3100_2.xml └── urdf │ ├── kr150_2.xacro │ ├── kr150_2_macro.xacro │ ├── kr150r3100_2.xacro │ └── kr150r3100_2_macro.xacro ├── kuka_kr16_support ├── CMakeLists.txt ├── config │ └── joint_names_kr16.yaml ├── launch │ ├── load_kr16_2.launch │ └── test_kr16_2.launch ├── meshes │ └── kr16_2 │ │ ├── collision │ │ ├── base_link.stl │ │ ├── link_1.stl │ │ ├── link_2.stl │ │ ├── link_3.stl │ │ ├── link_4.stl │ │ ├── link_5.stl │ │ └── link_6.stl │ │ └── visual │ │ ├── base_link.dae │ │ ├── link_1.dae │ │ ├── link_2.dae │ │ ├── link_3.dae │ │ ├── link_4.dae │ │ ├── link_5.dae │ │ └── link_6.dae ├── package.xml ├── test │ └── roslaunch_test.xml └── urdf │ ├── kr16_2.urdf │ ├── kr16_2.xacro │ └── kr16_2_macro.xacro ├── kuka_kr210_support ├── CMakeLists.txt ├── config │ └── joint_names_kr210l150.yaml ├── launch │ ├── load_kr210l150.launch │ └── test_kr210l150.launch ├── meshes │ └── kr210l150 │ │ ├── collision │ │ ├── base_link.stl │ │ ├── link_1.stl │ │ ├── link_2.stl │ │ ├── link_3.stl │ │ ├── link_4.stl │ │ ├── link_5.stl │ │ └── link_6.stl │ │ └── visual │ │ ├── base_link.dae │ │ ├── link_1.dae │ │ ├── link_2.dae │ │ ├── link_3.dae │ │ ├── link_4.dae │ │ ├── link_5.dae │ │ └── link_6.dae ├── package.xml ├── test │ └── roslaunch_test.xml └── urdf │ ├── kr210l150.urdf │ ├── kr210l150.xacro │ └── kr210l150_macro.xacro ├── kuka_kr3_support ├── CMakeLists.txt ├── config │ └── joint_names_kr3r540.yaml ├── launch │ ├── load_kr3r540.launch │ └── test_kr3r540.launch ├── meshes │ └── kr3r540 │ │ ├── collision │ │ ├── base_link.stl │ │ ├── link_1.stl │ │ ├── link_2.stl │ │ ├── link_3.stl │ │ ├── link_4.stl │ │ ├── link_5.stl │ │ └── link_6.stl │ │ └── visual │ │ ├── base_link.stl │ │ ├── link_1.stl │ │ ├── link_2.stl │ │ ├── link_3.stl │ │ ├── link_4.stl │ │ ├── link_5.stl │ │ └── link_6.stl ├── package.xml ├── test │ └── roslaunch_test_kr3r540.xml └── urdf │ ├── kr3r540.xacro │ └── kr3r540_macro.xacro ├── kuka_kr5_support ├── CMakeLists.txt ├── config │ ├── joint_names_kr5.yaml │ └── opw_kinematics_kr5.yaml ├── launch │ ├── load_kr5_arc.launch │ └── test_kr5_arc.launch ├── meshes │ └── kr5_arc │ │ ├── collision │ │ ├── base_link.stl │ │ ├── link_1.stl │ │ ├── link_2.stl │ │ ├── link_3.stl │ │ ├── link_4.stl │ │ ├── link_5.stl │ │ └── link_6.stl │ │ └── visual │ │ ├── base_link.dae │ │ ├── link_1.dae │ │ ├── link_2.dae │ │ ├── link_3.dae │ │ ├── link_4.dae │ │ ├── link_5.dae │ │ └── link_6.dae ├── package.xml ├── test │ └── roslaunch_test.xml └── urdf │ ├── kr5_arc.xacro │ └── kr5_arc_macro.xacro ├── kuka_kr6_support ├── CMakeLists.txt ├── config │ ├── joint_names_kr6r700sixx.yaml │ ├── joint_names_kr6r900sixx.yaml │ ├── joint_names_kuka_kr6_r900_2.yaml │ ├── opw_kinematics_kr6r700sixx.yaml │ └── opw_parameters_kr6r900_2.yaml ├── launch │ ├── load_kr6r700sixx.launch │ ├── load_kr6r900_2.launch │ ├── load_kr6r900sixx.launch │ ├── test_kr6r700sixx.launch │ ├── test_kr6r900_2.launch │ └── test_kr6r900sixx.launch ├── meshes │ ├── kr6_agilus │ │ ├── collision │ │ │ ├── base_link.stl │ │ │ ├── link_1.stl │ │ │ ├── link_3.stl │ │ │ ├── link_5.stl │ │ │ └── link_6.stl │ │ └── visual │ │ │ ├── base_link.dae │ │ │ ├── link_1.dae │ │ │ ├── link_3.dae │ │ │ ├── link_5.dae │ │ │ └── link_6.dae │ ├── kr6r700sixx │ │ ├── collision │ │ │ ├── link_2.stl │ │ │ └── link_4.stl │ │ └── visual │ │ │ ├── link_2.dae │ │ │ └── link_4.dae │ └── kr6r900sixx │ │ ├── collision │ │ ├── link_2.stl │ │ └── link_4.stl │ │ └── visual │ │ ├── link_2.dae │ │ └── link_4.dae ├── package.xml ├── test │ ├── roslaunch_test_kr6r700sixx.xml │ ├── roslaunch_test_kr6r900_2.xml │ └── roslaunch_test_kr6r900sixx.xml └── urdf │ ├── kr6r700sixx.xacro │ ├── kr6r700sixx_macro.xacro │ ├── kr6r900_2.xacro │ ├── kr6r900_2_macro.xacro │ ├── kr6r900sixx.xacro │ └── kr6r900sixx_macro.xacro ├── kuka_lbr_iiwa_support ├── CMakeLists.txt ├── config │ └── joint_names_lbr_iiwa.yaml ├── launch │ ├── load_lbr_iiwa_14_r820.launch │ └── test_lbr_iiwa_14_r820.launch ├── meshes │ └── lbr_iiwa_14_r820 │ │ ├── collision │ │ ├── base_link.stl │ │ ├── link_1.stl │ │ ├── link_2.stl │ │ ├── link_3.stl │ │ ├── link_4.stl │ │ ├── link_5.stl │ │ ├── link_6.stl │ │ └── link_7.stl │ │ └── visual │ │ ├── base_link.dae │ │ ├── link_1.dae │ │ ├── link_2.dae │ │ ├── link_3.dae │ │ ├── link_4.dae │ │ ├── link_5.dae │ │ ├── link_6.dae │ │ └── link_7.dae ├── package.xml └── urdf │ ├── lbr_iiwa_14_r820.urdf │ ├── lbr_iiwa_14_r820.xacro │ └── lbr_iiwa_14_r820_macro.xacro ├── kuka_resources ├── CMakeLists.txt ├── package.xml └── urdf │ ├── common_colours.xacro │ ├── common_constants.xacro │ └── common_materials.xacro ├── kuka_rsi_hw_interface ├── CMakeLists.txt ├── config │ ├── controller_joint_names.yaml │ └── hardware_controllers.yaml ├── include │ └── kuka_rsi_hw_interface │ │ ├── kuka_hardware_interface.h │ │ ├── rsi_command.h │ │ ├── rsi_state.h │ │ └── udp_server.h ├── krl │ ├── KR_C2 │ │ ├── README.md │ │ ├── ros_rsi.src │ │ └── ros_rsi_ethernet.xml │ └── KR_C4 │ │ ├── README.md │ │ ├── ros_rsi.rsi │ │ ├── ros_rsi.rsi.diagram │ │ ├── ros_rsi.rsi.xml │ │ ├── ros_rsi.src │ │ └── ros_rsi_ethernet.xml ├── launch │ └── controller_spawner.launch ├── package.xml ├── src │ ├── kuka_hardware_interface.cpp │ └── kuka_hardware_interface_node.cpp └── test │ ├── ag1_controller_joint_names.yaml │ ├── ag1_hw_controllers.yaml │ ├── ag1_params.yaml │ ├── ag2_controller_joint_names.yaml │ ├── ag2_hw_controllers.yaml │ ├── ag2_params.yaml │ ├── test_hardware_interface.launch │ ├── test_params.yaml │ ├── test_params_sim.yaml │ └── test_two_robots.launch └── kuka_rsi_simulator ├── CMakeLists.txt ├── README.md ├── launch └── kuka_rsi_simulator.launch ├── package.xml └── scripts └── kuka_rsi_simulator /.github/workflows/ci_bionic.yml: -------------------------------------------------------------------------------- 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