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sunrise_project_setup
Salvo Virga edited this page Mar 12, 2016
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- Create a Sunrise project, or load an existing one from the controller (do not create a new RoboticApplication)
- Open the StationSetup.cat file
- Select the Software tab
- Enable the "Smart Servo Motion Extension" package
- Save and apply changes
- Create another Java project to host our code
- Right-click on the Java project and choose Build Path -> Configure Build Path...
- Go to the Source tab and click the Link Source button
- Browse to the location of the folder iiwa_stack/iiwa_ros_java/src to use it as linked folder location
- Choose a folder name different than src
- Do not choose any inclusion/exclusion pattern and finish
- Go to the Libraries tab and click the Add External JARs... button
- Add all of the JARs contained in the iiwa_stack/iiwa_ros_java/ROSJavaLib folder
- Click the Add External JARs... button
- Add all of the JARs contained in the Sunrise project's KUKAJavaLib folder
- Now right-click on the Sunrise project and choose Build Path -> Configure Build Path...
- Go to the Projects tab and click the Add... button
- Add the Java project as a dependent project
Your project is now ready to be uploaded to the controller. There should be no red sign or problem found by the IDE.
From release 1.7.x, we introduced a configuration file that allows to easily set some parameters.
In the Java project you just created, you should have a config.txt file.
There you can set :
- robot_name : name of your robot, by default iiwa. Read more about this TODO;
- master_ip : IP of the ROSCORE machine you just set TODO, for example 160.69.69.100;
- master_port : port for ROS communication, also set TODO, by default is 11311;
- ntp_with_host : turns on/off the ntptimeprovider from ROSJava to sync the two machines.
Once you properly fill this file, everything is ready.