Hi everyone,

it is my pleasure to announce the schunk_canopen_driver[1] package that 
you can use to control the lightweight robot arm LWA4P [2] produced by 
Schunk.

The LWA4P or Powerball arm is, as probably most of you know, a 
lightweight robot arm, especially suited for mobile applications due to 
the internal controllers and no need for a separate controller.
The package was specifically designed for the LWA4P and currently 
supports interpolated position as well as profile position mode, full 
emcy messages,pdo reconfiguration and much more. It comes with a 
detailed 3D-Model, urdf, and everything else you need. The package was 
tested on multiple platforms with indigo, jade and kinetic and already 
worked well during public exhibitions such as the Schunk expert days and 
others.
A comprehensive documentation is already provided on the wiki and should 
allow you to easily use the package in your projects.

The package is currently available via git [3] and package manager. For 
older distributions some workarounds of ros control are required. It is 
designed to work with the peak can adapters in chardev mode.

Please let me know if you have any feedback, suggestions or any trouble 
using the package.


Best Regards
Georg Heppner

[1] http://wiki.ros.org/schunk_canopen_driver
[2] 
http://mobile.schunk-microsite.com/en/produkte/products/powerball-lightweight-arm-lwa-4p.html
[3] 
https://github.com/fzi-forschungszentrum-informatik/schunk_canopen_driver

-- 
.........................................................
M.Sc. Georg Heppner
Wissenschaftlicher Mitarbeiter Interaktive Diagnose- und Servicesysteme (IDS)

FZI Forschungszentrum Informatik
Haid-und-Neu-Str. 10–14
76131 Karlsruhe, Germany
Tel.: +49 721 9654-248
Fax: +49 721 9654-249

heppner@fzi.de
www.fzi.de

.........................................................
FZI Forschungszentrum Informatik am Karlsruher Institut für Technologie
Stiftung des bürgerlichen Rechts
Stiftung Az: 14-0563.1 Regierungspräsidium Karlsruhe
Vorstand: Prof. Dr. Andreas Oberweis, Prof. Dr. Ralf Reussner,
Jan Wiesenberger, Prof. Dr.-Ing. J. Marius Zöllner
Vorsitzender des Kuratoriums: Ministerialdirigent Günther Leßnerkraus
.........................................................

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