Add KR10 R1420 support (#216)

kuka_kr10_support/CMakeLists.txt

@@ -10,6 +10,7 @@ if (CATKIN_ENABLE_TESTING)
   find_package(roslaunch REQUIRED)
   roslaunch_add_file_check(test/roslaunch_test_kr10r900_2.xml)
   roslaunch_add_file_check(test/roslaunch_test_kr10r1100sixx.xml)
+  roslaunch_add_file_check(test/roslaunch_test_kr10r1420.xml)
 endif()
 
 install(DIRECTORY config launch meshes urdf

kuka_kr10_support/config/joint_names_kr10r1420.yaml

@@ -0,0 +1 @@
+controller_joint_names: ['joint_a1', 'joint_a2', 'joint_a3', 'joint_a4', 'joint_a5', 'joint_a6']

kuka_kr10_support/launch/load_kr10r1420.launch

@@ -0,0 +1,4 @@
+<?xml version="1.0"?>
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro '$(find kuka_kr10_support)/urdf/kr10r1420.xacro'"/>
+</launch>

kuka_kr10_support/launch/test_kr10r1420.launch

@@ -0,0 +1,9 @@
+<?xml version="1.0"?>
+<launch>
+  <include file="$(find kuka_kr10_support)/launch/load_kr10r1420.launch" />
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="use_gui" value="true" />
+  </node>
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>

kuka_kr10_support/package.xml

@@ -15,6 +15,7 @@
     <ul>
       <li>KR 10 R900-2 - Default</li>
       <li>KR 10 R1100 sixx - Default</li>
+      <li>KR 10 R1420 - Default</li>
     </ul>
     <p>
       Joint limits and maximum joint velocities for the Agilus-2 variants
@@ -32,12 +33,21 @@
       unless noted otherwise (ie: no support for high speed joints,
       extended / limited motion ranges or other options).
     </p>
+    <p>
+      Joint limits and maximum joint velocities are based on the information
+      in the <em>KUKA Roboter GmbH - KR CYBERTECH nano</em> version
+	  <em>Spez KR CYBERTECH nano V1, 25.07.2016</em>.
+      All urdfs are based on the default motion and joint velocity limits,
+      unless noted otherwise (ie: no support for high speed joints,
+      extended / limited motion ranges or other options).
+    </p>
     <p>
       Before using any of the configuration files and / or meshes included
       in this package, be sure to check they are correct for the particular
       robot model and configuration you intend to use them with.
     </p>
   </description>
+  <author email="hi@aatb.ch">Thibault Brevet (AATB GmbH)</author>
   <author email="schindlbeck@imr.uni-hannover.de">Christopher Schindlbeck (University of Hanover)</author>
   <author email="simon.schmeisser@optonic.com">Simon Schmeisser (Optonic GmbH)</author>
   <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>

kuka_kr10_support/test/roslaunch_test_kr10r1420.xml

@@ -0,0 +1,9 @@
+<launch>
+  <group ns="load_kr10r1420__">
+    <include file="$(find kuka_kr10_support)/launch/load_kr10r1420.launch"/>
+  </group>
+
+  <group ns="test_kr10r1420__">
+    <include file="$(find kuka_kr10_support)/launch/test_kr10r1420.launch"/>
+  </group>
+</launch>

kuka_kr10_support/urdf/kr10r1100sixx_macro.xacro

@@ -1,9 +1,8 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
-  <xacro:include filename="$(find kuka_resources)/urdf/common_constants.xacro"/>
-  <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
 
   <xacro:macro name="kuka_kr10r1100sixx" params="prefix">
+    <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
     <link name="${prefix}base_link">
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>

kuka_kr10_support/urdf/kr10r1420.xacro

@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<robot name="kuka_kr10r1420" xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:include filename="$(find kuka_kr10_support)/urdf/kr10r1420_macro.xacro" />
+  <xacro:kuka_kr10r1420 prefix=""/>
+</robot>

kuka_kr10_support/urdf/kr10r1420_macro.xacro

@@ -0,0 +1,178 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+
+  <xacro:macro name="kuka_kr10r1420" params="prefix">
+    <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
+    <link name="${prefix}base_link">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr10_support/meshes/kr10r1420/visual/base_link.stl" />
+        </geometry>
+        <xacro:material_kuka_black />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr10_support/meshes/kr10r1420/collision/base_link.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_1">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr10_support/meshes/kr10r1420/visual/link_1.stl" />
+        </geometry>
+        <xacro:material_kuka_orange />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr10_support/meshes/kr10r1420/collision/link_1.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_2">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr10_support/meshes/kr10r1420/visual/link_2.stl"/>
+        </geometry>
+        <xacro:material_kuka_orange />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr10_support/meshes/kr10r1420/collision/link_2.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_3">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr10_support/meshes/kr10r1420/visual/link_3.stl" />
+        </geometry>
+        <xacro:material_kuka_orange />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr10_support/meshes/kr10r1420/collision/link_3.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_4">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr10_support/meshes/kr10r1420/visual/link_4.stl" />
+        </geometry>
+        <xacro:material_kuka_orange />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr10_support/meshes/kr10r1420/collision/link_4.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_5">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr10_support/meshes/kr10r1420/visual/link_5.stl" />
+        </geometry>
+        <xacro:material_kuka_orange />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr10_support/meshes/kr10r1420/collision/link_5.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_6">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr10_support/meshes/kr10r1420/visual/link_6.stl" />
+        </geometry>
+        <xacro:material_kuka_pedestal />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr10_support/meshes/kr10r1420/collision/link_6.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <!-- Following REP199, this frame shall be use to attach EEF or other equipment -->
+    <link name="${prefix}flange" />
+
+    <joint name="${prefix}joint_a1" type="revolute">
+      <origin xyz="0 0 0.450" rpy="0 0 0"/>
+      <parent link="${prefix}base_link"/>
+      <child link="${prefix}link_1"/>
+      <axis xyz="0 0 -1"/>
+      <limit effort="0" lower="${radians(-170)}" upper="${radians(170)}" velocity="${radians(220)}"/>
+    </joint>
+    <joint name="${prefix}joint_a2" type="revolute">
+      <origin xyz="0.150 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_1"/>
+      <child link="${prefix}link_2"/>
+      <axis xyz="0 1 0"/>
+      <limit effort="0" lower="${radians(-185)}" upper="${radians(65)}" velocity="${radians(210)}"/>
+    </joint>
+    <joint name="${prefix}joint_a3" type="revolute">
+      <origin xyz="0.610 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_2"/>
+      <child link="${prefix}link_3"/>
+      <axis xyz="0 1 0"/>
+      <limit effort="0" lower="${radians(-137)}" upper="${radians(163)}" velocity="${radians(270)}"/>
+    </joint>
+    <joint name="${prefix}joint_a4" type="revolute">
+      <origin xyz="0 0 0.02" rpy="0 0 0"/>
+      <parent link="${prefix}link_3"/>
+      <child link="${prefix}link_4"/>
+      <axis xyz="-1 0 0"/>
+      <limit effort="0" lower="${radians(-185)}" upper="${radians(185)}" velocity="${radians(381)}"/>
+    </joint>
+    <joint name="${prefix}joint_a5" type="revolute">
+      <origin xyz="0.660 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_4"/>
+      <child link="${prefix}link_5"/>
+      <axis xyz="0 1 0"/>
+      <limit effort="0" lower="${radians(-120)}" upper="${radians(120)}" velocity="${radians(311)}"/>
+    </joint>
+    <joint name="${prefix}joint_a6" type="revolute">
+      <origin xyz="0.080 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_5"/>
+      <child link="${prefix}link_6"/>
+      <axis xyz="-1 0 0"/>
+      <limit effort="0" lower="${radians(-350)}" upper="${radians(350)}" velocity="${radians(492)}"/>
+    </joint>
+    <joint name="${prefix}joint_a6-flange" type="fixed">
+      <parent link="${prefix}link_6"/>
+      <child link="${prefix}flange"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+    </joint>
+
+    <!-- ROS base_link to KUKA $ROBROOT coordinate system transform -->
+    <link name="${prefix}base" />
+    <joint name="${prefix}base_link-base" type="fixed">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}base_link"/>
+      <child link="${prefix}base"/>
+    </joint>
+
+    <!-- This frame corresponds to the $TOOL coordinate system in KUKA KRC controllers -->
+    <link name="${prefix}tool0" />
+    <joint name="${prefix}flange-tool0" type="fixed">
+      <parent link="${prefix}flange"/>
+      <child link="${prefix}tool0"/>
+      <origin xyz="0 0 0" rpy="0 ${radians(90)} 0"/>
+    </joint>
+  </xacro:macro>
+</robot>