In this talk, we present our complete open-source ROS1 stack for the KMR iiwa mobile manipulator. This stack is comprised of a ROSJava driver running natively on the platform controller and accompanying ROS1 packages that allow to use the platform with standard ROS packages as Moveit, Navigation stack, RViz and Gazebo simulation. We will describe the stack’s features, provided ROS1 packages and the driver’s software architecture. Furthermore, to illustrate the stack’s operations, video demos will be shown of the platform using the developed stack to run in single and multi-robot example applications in the context of chemistry lab automation.
