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Version: ROS 2 Humble

Kinova Gen3 Lite

Item Numbers​

DescriptionCPR Item
Kinova Gen3 lite Bundle022586
Kinova Gen3 lite, PACS™ kit027219

Specifications​

Overview​

DescriptionValue
Mass5.4 kg
Voltage, Minimum21 V
Voltage, Maximum30 V
Voltage, Sensor24 V
Power, Average20 W
Power, Peak100 W
DataEthernet, 100 Mbit/s
Reach760 mm
Payload0.5 kg
Speed250 mm/s
Range±155°
Ingress Protection, Solids2
Ingress Protection, Liquids2
Operating Temperature, Min0°C
Operating Temperature, Max40°C

IP addresses​

DescriptionIP address
Default from Manufacturer, USB - USB192.168.1.10

Hardware Build​

Parts List​

The PACS™ kit for this sensor includes:

IDDescriptionCPR ItemQuantity
1Plate—80 X 80, Attachment Interface0269141
2Manipulator Bundle0225861
3Screw, Cap, Round Head—M6×1 X 8, Stainless Steel0233264
4Spacer, Round—Ø5.3 X Ø8 X 7, Aluminum Alloy0266124
5Screw, Cap, Round Head—M5×0.8 X 16, Stainless Steel0232574

Instructions​

  1. Remove the Kinova arm from it's packaging.
  2. There is a Quick Connect Mounting Knob on the bottom of the arm. You will need to remove this to mount the arm to the PACS™ bracket. Hold the Mounting Knob's square body using an adjustable wrench. Then use a hex key to turn the Mounting Knob's screw counerclockwise. Then remove the Mounting Knob from the arm.
  3. Refer to the attachment-plate's (ID 1) drawing 026914. The notes indicate which holes are for the Kinova arm. You will need to enlarge the four holes to Ø6.3 mm with a drill.
  4. Mount the arm (ID 2) to the attachment-plate (ID 1) using four M6×1 screws (ID 3).
  5. Mount this assembly onto your robot, using the included spacers (ID 4) and screws (ID 5).

Software Bringup​

Installing packages​

1. Download packages:

cd ~/catkin_ws/src
git clone --single-branch --branch noetic-devel https://github.com/Kinovarobotics/ros_kortex.git
git clone --single-branch --branch noetic-devel https://github.com/husky/husky_manipulation.git
rosdep install --from-paths . --ignore-src -r -y

Rosdep may give warnings about unsatisfied dependencies. This is okay if you are only trying to install a single Kinova Gen3 lite on the robot.


2. Install dependencies per Kinova's github instructions:

sudo apt install python3 python3-pip
sudo python3 -m pip install conan

3. Build the workspace

cd ~/catkin_ws/
catkin_make
source devel/setup.bash

Networking, with netplan​

The Kinova Gen3 lite does not let you change its static IP address. Its address is always 192.168.1.10. when you connect using a USB - USB cable.

You will need to extend the network bridge to the 192.168.1.x subnet to interface with the Kinova Gen3 lite arm.

Open the netplan configuration file with /etc/netplan/50-clearpath-bridge.yaml. You will be adding a bridgeusb section to the file, and an additional _192.168.1.1/24 address to the network bridge. Your file should look like this:


network:
  version: 2
  renderer: networkd
  ethernets:
    bridge_en:
      dhcp4: no
      dhcp6: no
      match:
        name: en*
    bridge_eth:
      dhcp4: no
      dhcp6: no
      match:
        name: eth*
    bridge_usb:
      dhcp4: no
      dhcp6: no
      match:
        name: usb*
  bridges:
    br0:
      dhcp4: yes
      dhcp6: no
      interfaces: [bridge_en, bridge_eth, bridge_usb]
      addresses:
        - 192.168.131.1/24
        - 192.168.1.1/24

Close and save the file be pressing ctrl + x, then typing y, and pressing Enter.

Now apply your new netplan changes by running sudo netplan apply.

You can test the netplan settings by pinging the robot's computer, and pinging the Kinova arm:

ping 192.168.131.1
ping 192.168.1.10
tip

If you cannot ping the computer or arm, try rebooting and replugging the Kinoca Gen3 lite arm before reviewing your installation steps.

Launching the ROS Driver​

roslaunch husky_kinova_bringup husky_gen3_lite_bringup.launch
roslaunch husky_gen3_lite_moveit_config husky_gen3_lite_moveit_planning_execution.launch

URDF​

Refer to Clearpath's GitHub repository for Husky Manipulation, https://github.com/husky/husky_manipulation.

MoveIt!​

MoveIt! should be used on the robot whenever possible. MoveIt! tracks arm movements with regards to the robot's base_link. MoveIt! will prevent the arm from colliding with the robot's base, assuming you have a detailed URDF that includes all the surfaces of the robot.

Refer to Clearpath's GitHub repository for Husky Manipulation, https://github.com/husky/husky_manipulation.

Troubleshooting​

Arm is not turning on​

  1. Turn off the robot.
  2. Remove the Kinova's circular power connector.
  3. Turn the robot back on.
  4. Use a multimeter to check that the voltage is 24 V between:
    • Position 2 and Position 3
    • Position 5 and Position 8
  5. If you are not reading 24 V, then:
    • An upstream connector may not be fully seated.
    • A fuse may be blown.
    • A power supply may have failed.

ROS driver won't start​

  1. Restart the robot, or run the command sudo systemctl restart ros.

  2. Make sure your catkin_ws is sourced.

    note

    You can source your catkin_ws in every terminal shell by adding a line to the file ~/.bashrc.

  3. Run the commands mentioned in the Launch section of this page.

Cannot see the Kinova in RViz​

  1. Make sure the Kinova node is running. You can check this with RQT, rosnode list, or reviewing the rostopics.
  2. Start RViz.
  3. Add in the robot's models.
  4. Add the arm's rostopics.

If the Issue Persists​

Clearpath is committed to your success. Please get in touch with us and we will do our best to get you rolling again quickly: support@clearpathrobotics.com.

To get in touch with a salesperson regarding Clearpath Robotics products, please email research-sales@clearpathrobotics.com.

If you have an issue that is specifically about ROS and is something which may be of interest to the broader community, consider asking it on https://robotics.stackexchange.com. If you do not get a satisfactory response, please ping us and include a link to your question as posted there. If appropriate, we will answer in the ROS Answers context for the benefit of the community.

Further Reading​

  1. Clearpath Robotics Store
  2. Datasheet
  3. Installation Guide
  4. User Manual
  5. Kinova Website
  6. ROS webpage
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