New kuka_kss_hw_interface

[patduda]

I have been working on a new driver and will commit the code soon. The new development will add the folder kuka_kss_hw_interface so none of the existing code base will be affected.
Do you have any recommendations to facilitate the acceptance process?

The goal was to utilize the latest Kuka technology and system knowledge to provide a driver that is more functional and industry ready.
It has many new features:

1. True server implemented in Ethernet KRL (EKI) that runs in the background. Once installed, the system will listen for a connection from the ROS node. Support for Auto External is built in so the ROS node can start/stop programs and enable/disable drives.
2. Connection startup checks validate robot model, driver versions, axis types, axis velocities.
3. Support for external axes and linear axes.
4. Modular design: Support for different communication methods (EKI, RSI, future EtherCat). Support for different control options (EKI, RSI, other future options like mxAutomation). Control types implemented in different KRL programs.
5. Consolidated control and switching from Kuka motion control with EKI to remote motion control with RSI.
6. New services: start_motion, stop_motion, robot_enable, robot_disable, device_info, robot_status, reset, request_control_type, get_control_type.
7. Built-in support for linux real-time extensions.

[simonschmeisser]

Really looking forward to see your code and learn from it!

Do you have some details about the EtherCat option? How would that work?

What makes mxAutomation interesting to you?

[patduda]

I committed this and issued a pull request today. I'm looking forward to hearing your feedback.

[patduda]

Thanks Simon!
The ROS driver is really just a communication link for remote control of the robot.

• In the case of EtherCat, it would provide a more robust and faster communication link to pass commands, instead of EKI. EtherCat is the native bus system on KRC4 and KRC5 so every system supports it. I have seen mention of ROS support for EtherCat but I don't have time to test setup and configuration:

http://openethercatsociety.github.io/
http://wiki.ros.org/Industrial/Tutorials/Simple_EtherCAT_Network_IO

• In the case of mxAutomation (mxA), it's already designed as a complete remote control capability as a standard product on the Kuka. The main use case is currently remote control from PLC hardware. However, there are also programming libraries that enable communication from a custom application (like a ROS node). mxA provides a ready-made, complete and very robust mechanism to send commands from a ROS node. Every command you can do from KRL, you can send remotely with mxA.