RoboKit
Application Programming Interfaces for RoboKit
RoboKit
Firmware is packaged as .snap communicating with 3rd party rosnodes through ROS1 protocol. Interfacable functions including:
Multiple targets for robotic arm inverse kinematics functions (UR modules only require single end of arm pose target)
Robot arm state including joint angle, errors
Control of end effector state
Velocity control of the base_link (not available on UR models)
More information about the ROS concept can be found here: http://wiki.ros.org/ROS/Concepts