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Add external axis integration for KSS+ iiQKA OS2 #37

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Add external axis integration for KSS+ iiQKA OS2 #37

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@kovacsge11 kovacsge11 commented Nov 13, 2025

Add external axis integration for KSS + iiQKA OS2:

  • add program and context rsi_ext_axis_example for an example of E1 as prismatic joint integrated
  • align existing implementation to allow for easy external axes extendibility
    • rsi_joint_pos context - must be modified with factors and links for new external axes
    • rsi_ethernet.xml - can be used this way for all use cases
    • message_builder - can be used this way for all use cases, but needs to be modified for non-6-axis robots

TODO:

  • align krc_setup to KSS, too + test
  • add documentation

@kovacsge11 kovacsge11 requested a review from pasztork November 13, 2025 14:25
@kovacsge11 kovacsge11 requested a review from Svastits as a code owner November 13, 2025 14:25
@kovacsge11 kovacsge11 added the enhancement New feature or request label Nov 13, 2025
pasztork
pasztork requested changes Nov 13, 2025
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pasztork
pasztork previously approved these changes Nov 18, 2025
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Svastits
Svastits reviewed Nov 19, 2025
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Svastits
Svastits reviewed Nov 19, 2025
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Svastits
Svastits reviewed Nov 19, 2025
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Svastits
Svastits reviewed Nov 19, 2025
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Svastits
Svastits previously approved these changes Nov 24, 2025
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@Groebehavn Groebehavn linked an issue Nov 26, 2025 that may be closed by this pull request
Add external axis support with RSI for KROSHU kroshu/kuka_drivers#277
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pasztork
pasztork approved these changes Dec 3, 2025
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kuka_external_control_sdk/kss/src/message_builder.cc
next_value_idx += kAttributeSuffix.length();

// External axes
// this -1 is to account for that there is no " before the fist attribute
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// this -1 is to account for that there is no " before the fist attribute
// this -1 accounts for the lack of a quotation mark before the first attribute

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@pasztork pasztork pasztork approved these changes

@Svastits Svastits Svastits left review comments

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Add external axis support with RSI for KROSHU

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