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Home > Integration > EtherCAT controller + ROS
broesdecat

Hi,

We have a Kuka iiwa and a robotiq gripper that is currently interfaced to it through a controller with EtherCAT connection, connected to the iiwa's X65 port.
I was now looking to control the gripper through ROS, and I was wondering what is the easiest way to go about this.
I guess using anything from the ros robotiq package (https://github.com/ros-industrial/robotiq) is not really an option as it would have to run on the controller to be able to interface with the EtherCAT controller. So the best approach seems to be a ROS integration through Sunrise, but is anything of that type available off-the-shelf?

Thanks for any ideas!
Broes
Etienne_Samson

@carlosjoserg do you have any experience on this ? I personally know no one who did use the IIWA on ROS...