IPv6-enabled low-power wireless personal area networks of smart objects (6LoWPANs) play an important part in the Internet of Things (IoT), especially on account of the Internet integration (IPv6), energy consumption (low-power), and ubiquitous availability (wireless). This paper presents our experience of designing and implementing 6LoWPANs for developing IoT applications, particularly for home and building automation. The performance evaluation provides a comprehensive analysis on several communication aspects between 6LoWPANs and regular IPv6 networks such as energy consumption, network performance, and service communication.