sunrise_project_setup

Set up your Sunrise Project

1. Create a Sunrise project, or load an existing one from the controller (do not create a new RoboticApplication)
2. Open the StationSetup.cat file
3. Select the Software tab
4. Enable the "Smart Servo Motion Extension" package
5. Save and apply changes
6. Create another Java project to host our code
7. Right-click on the Java project and choose Build Path -> Configure Build Path...
8. Go to the Source tab and click the Link Source button
9. Browse to the location of the folder iiwa_stack/iiwa_ros_java/src to use it as linked folder location
10. Choose a folder name different than src
11. Do not choose any inclusion/exclusion pattern and finish
12. Go to the Libraries tab and click the Add External JARs... button
13. Add all of the JARs contained in the iiwa_stack/iiwa_ros_java/ROSJavaLib folder
14. Click the Add External JARs... button
15. Add all of the JARs contained in the Sunrise project's KUKAJavaLib folder
16. Now right-click on the Sunrise project and choose Build Path -> Configure Build Path...
17. Go to the Projects tab and click the Add... button
18. Add the Java project as a dependent project

Your project is now ready to be uploaded to the controller. There should be no red sign or problem found by the IDE.

Configuration File

From release 1.7.x, we introduced a configuration file that allows to easily set some parameters.
In the Java project you just created, you should have a config.txt file.

There you can set :

• robot_name : name of your robot, by default iiwa. Read more about this HERE;
• master_ip : IP of the ROSCORE machine you just set HERE, for example 160.69.69.100;
• master_port : port for ROS communication, also set HERE, by default is 11311;
• ntp_with_host : turns on/off the ntptimeprovider from ROSJava to sync the two machines.

Once you properly fill this file, everything is ready.