Hi,
I have been working with the KMP omniMove200 delivered by KUKA. It uses the same controller (Sunrise Cabinet) as the LBR Iiwa, but the Sunrise.Mobility package provide easy accessible methods to retrieve sensor data from the LBR and not for the KMP.
Sunrise.Mobility provide methods for collecting information about if the Protective field or Warning field is violated, and in what area of the field an obstacle was detected. I need to access the ranges read by the sensors in order to transfer the data to ROS to use for mapping purposes. The data can be viewed in MAP perspective or LaserView by utilizing the NavigationSolution, but I have not yet figured out how to access the data by using the provided software.
I am wondering if you know how to access the the raw data from the lasers, in form of range data?
Product information:
WorkVisual 5.0.5
Sunrise.OS 1.16
Sunrise.Mobility 1.10 KMP 200
Sunrise.Mobility 1.10 KMP _KMR oM
KMP SICK Scanner S300 V1.0
KMP200 Siemens_1511F_V205 PLC V1.3
Sunrise.Workbench 1.16
NavigationSolution 1.13 KMP 200