This page is operated by Locomotec, the official KUKA youBot partner.
December 11, 2012 by Administrator
The KUKA youBot API wrapper provides a mapping between messages for the ROS framework and the KUKA youBot API method calls. With this wrapper you can move the base and the arm of the KUKA youBot. You need to send ROS messages as commands. The proprioceptive sensor measurements like odometry and joint angles of the KUKA youBot arm and the wheels are published on ROS topics.
This install guide assumes that ROS is already installed, preferably the Ubuntu package based installation for Ubuntu 10.04, as described in http://www.ros.org/wiki/electric/Installation/Ubuntu. The ros-electric-ros-base installation will be sufficient. The KUKA youBot OODL API is required as well. To install the wrapper issue these commands:
$ sudo apt-get install ros-electric-pr2-controllers # required for trajectory_msgs
$ mkdir ~/ros_stacks # (if not done already)
$ cd ~/ros_stacks
$ git clone https://github.com/youbot/youbot-ros-pkg.git
$ git clone git://github.com/ipa320/cob_common.git
In case ~/ros_stacks (the folder you have chosen to place the youbot-ros-pkg) has not yet been added to the $ROS_PACKAGE_PATH, you need to add this directory, by appending it in the /opt/ros/electric/setup.sh and either restarting the terminal window or typing:
$ source /opt/ros/electric/setup.bash
You can check if it works if the command roscd youbot_oodl goes to the youbot_oodl folder. To compile the wrapper driver use rosmake:
$ rosmake --rosdep-install youbot_oodl
To start the driver you have to open a terminal window and start the roscore:
Then open another terminal and go to the launch folder of the youbot oodl driver (e.g. by typing roscd
youbot oodl/launch) and use the start script:
$ roslaunch youbot_oodl youbot_oodl_driver.launch
$ roslaunch youbot_oodl youbot_joint_state_publisher.launch
Please note, that currently there is no roslaunch file because the driver needs root permissions for the
The youbot_oodl package comes with two simple example applications. The first one is a keyboard based teleoperation application for the base. You can start it with:
$ rosrun youbot_oodl youbot_keyboard_teleop.py
The following keys can be used to move the KUKA youBot:
u i o
j k l
m , .
Where as i means forward, , backwards, j left, l right, m turn left on spot, . turn right on spot, u move an left-sided arc and o an right-sided arc. All other keystrokes will stop the KUKA youBot.
The second sample application allows to set joint angles for an arm. It asks for values for each arm. When all values are specified, the command will be executed. You can start the sample with:
$ rosrun youbot_oodl youbot_arm_test
Further documentation on the wrapper can be found in the KUKA youBot User Manual.
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German Open 2013,
December 11, 2012
Call for Participation
26. - 28. April 2013
KUKA youBot @ 5th BRICS Research Camp -
November 11, 2012
The fifth BRICS research camp took place from Oct. 29th to Nov. 2nd in Motril, Spain.
Under the topic "Mobile Manipulation - All in!" the integration of functionalities into a complete mobile manipulation application was elaborated. The transition from classical "sense-plan-act" paradigms to continuously integrated control and perception framed the scientific focus of this camp.
KUKA youBot Rollout Party IROS 2012 -
October 10, 2012
Thank you for joining us at the KUKA youBot rollout party during IROS 2012 in Vilamoura. The party took place on Oct. 9 at 19:30 in the Crowne Plaza Hotel in Vilamoura in room Sotavento.