Kuka with Moveit!

Content

1. Modified iiwa_stack_cam Moveit!
2. Original iiwa_stack Moveit!

iiwa_stack_cam Moveit API

There are two ways:

1. Control real kuka using RViz: (based on MoveIt! - RViz Support Services)
   in terminal, run:
   roslaunch iiwa_cam moveit_kuka.launch
   then you can trag the end effector, paln and execute.

2. Control real kuka using Cpp/Python Program:
   Demo File: moveit_plan_and_exec_node.cpp

Original iiwa_stack Moveit API

NOTE: This method results in a jerky motion. Issue link

1. Control real kuka:
   in terminal, run:
   roslaunch iiwa_moveit moveit_planning_execution.launch sim:=false

2. Using Gazebo to simulate:
   in terminal, run:
   roslaunch iiwa_moveit moveit_planning_execution.launch