From Georg Heppner via ros-users@
it is my pleasure to announce the schunkcanopendriver[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
