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CoSTAR Bringup

This describes tools and systems for reproducing our implementation of the CoSTAR system on a KUKA LBR iiwa 14. The particular combination of the LBR iiwa and the Robotiq 3-finger gripper gives us a powerful range of capabilities.

Hand-Eye Calibration

We provide a model-based approach for hand-eye calibration.

We used the Robotiq kit for adapting a 3-finger gripper to a touch IO flange.

Image of marker placement in the robot:

Robot image

Image of marker placement in rviz:

RVIZ image

Simulation

You can easily run the simulation with:

roslaunch costar_bringup iiwa_s_model.launch sim:=true

It may be helpful to launch different components separately:

roslaunch iiwa_gazebo iiwa_gazebo.launch trajectory:=false # simulation
roslaunch costar_bringup sim:=true start_sim:=false

RVIZ

To show a visualization:

roslaunch costar_bringup rviz.launch

The yellow grid is offset from the camera frame.