Kinova Gen3 - GitHub Repositories and ROS Packages

KINOVA
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Gen3 Ultra lightweight robot User Guide 129
For more detailed information about developing applications using the API visit the KINOVA
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KORTEX™ GitHub repository at: github.com/kinovarobotics/kortex
The repository offers access to a number of resources for developers.
• setup instructions and release notes
• detailed API documentation by language
• code examples
KINOVA
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KORTEX™ ROS and KINOVA
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KORTEX™ ROS GitHub overview
This section describes the ROS packages for the robot (and all other products enabled by
KINOVA
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KORTEX™).
Introduction
KINOVA
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KORTEX™ ROS is the official repository containing ROS packages to interact with
Kortex and related products. It consists of a number of ROS packages built on top of the client
Kortex API.
These ROS packages are designed to work with ROS Kinectic Kame. Note that ROS Kinectic
Kame is primarily targeted for Ubuntu 16.04 (Xenial) LTS (although other platforms are also
supported to different degrees).
Methods provided by the underlying API are offered as ROS services and topics,
depending on the method.
• RPC methods are exposed via ROS services
• pub/sub methods are exposed via ROS topics
The ROS Messages correspond to the message type definitions of the underlying API.
The ROS interface can be accessed using either Python (rospy) or C++ (roscpp).
Detailed documentation of the packages is available on the Kinova ros_kortex GitHub
repository at github.com/kinovarobotics/ros_kortex
The repository includes various packages related to ROS development:
• setup instruction and release notes
• kortex_actuator_driver (ROS node package for interfacing with a single actuator)
• kortex_api (package containing header files and libraries needed to use the C++ Kortex
API)
• kortex_description (package contains URDF and STL files of the robot)
• kortex_device_manager (ROS node package to allow basic communication with every
device supported by the Kortex framework)
• kortex_driver (ROS node package to allow direct communication with a robot base)
• kortex_examples (examples needed to understand the basics of ros_kortex)
• kortex_vision_config_driver (ROS node package to allow direct communication
with the robot Vision module)
KINOVA
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KORTEX™ GitHub repository
This section describes the KINOVA
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KORTEX™ GitHub repository.