Add KR3 (original, 2005 version) support

kuka_kr3_support/config/joint_names_kr3.yaml

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

kuka_kr3_support/launch/load_kr3.launch

@@ -0,0 +1,4 @@
+<?xml version="1.0"?>
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find kuka_kr3_support)/urdf/kr3.xacro'"/>
+</launch>

kuka_kr3_support/launch/test_kr3.launch

@@ -0,0 +1,9 @@
+<?xml version="1.0"?>
+<launch>
+  <include file="$(find kuka_kr3_support)/launch/load_kr3.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_kr3_support/package.xml

@@ -8,16 +8,17 @@
     </p>
     <p>
       This package contains configuration data, 3D models and launch files
-      for the KUKA KR 3 manipulators. This currently includes the R540 only.
+      for the KUKA KR 3 manipulators.
     </p>
     <p><b>Specifications</b>:</p>
     <ul>
-      <li>KR 3 R540 - Default</li>
+      <li>KR 3 R540 - Default (based on <em>KUKA Roboter GmbH - KR 3 AGILUS Specification</em> version
+      <em>Spez KR 3 AGILUS V3, 21.03.2017</em>)</li>
+      <li>KR 3 (based on <em>KUKA Roboter GmbH - KR 3 Specification</em> version <em>Spez KR 3 de/en/fr 08.00.02 21.3.2005</em>)</li>
     </ul>
     <p>
       Joint limits and maximum joint velocities are based on the information
-      in the <em>KUKA Roboter GmbH - KR 3 AGILUS Specification</em> version
-      <em>Spez KR 3 AGILUS V3, 21.03.2017</em>.
+      in the specifications.
       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).

kuka_kr3_support/test/roslaunch_test_kr3.xml

@@ -0,0 +1,10 @@
+<?xml version="1.0" ?>
+<launch>
+  <group ns="load_kr3__">
+    <include file="$(find kuka_kr3_support)/launch/load_kr3.launch"/>
+  </group>
+
+  <group ns="test_kr3__">
+    <include file="$(find kuka_kr3_support)/launch/test_kr3.launch"/>
+  </group>
+</launch>

kuka_kr3_support/urdf/kr3.xacro

@@ -0,0 +1,5 @@
+<?xml version="1.0" ?>
+<robot name="kuka_kr3" xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:include filename="$(find kuka_kr3_support)/urdf/kr3_macro.xacro"/>
+  <xacro:kuka_kr3 prefix=""/>
+</robot>

kuka_kr3_support/urdf/kr3_macro.xacro

@@ -0,0 +1,170 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
+
+  <xacro:macro name="kuka_kr3" params="prefix">
+    <link name="${prefix}base_link">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr3_support/meshes/kr3/visual/base_link.stl" />
+        </geometry>
+        <xacro:material_kuka_pedestal />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr3_support/meshes/kr3/collision/base_link.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_1">
+      <visual>
+        <origin xyz="0 0 -0.175" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr3_support/meshes/kr3/visual/link_1.stl" />
+        </geometry>
+        <xacro:material_kuka_ral_pure_white />
+      </visual>
+      <collision>
+        <origin xyz="0 0 -0.175" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr3_support/meshes/kr3/collision/link_1.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_2">
+      <visual>
+        <origin xyz="-0.1 -0.1 -0.350" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr3_support/meshes/kr3/visual/link_2.stl" />
+        </geometry>
+        <xacro:material_kuka_ral_pure_white />
+      </visual>
+      <collision>
+        <origin xyz="-0.1 -0.1 -0.350" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr3_support/meshes/kr3/collision/link_2.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_3">
+      <visual>
+        <origin xyz="-0.1 -0.1 -0.615" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr3_support/meshes/kr3/visual/link_3.stl" />
+        </geometry>
+        <xacro:material_kuka_ral_pure_white />
+      </visual>
+      <collision>
+        <origin xyz="-0.1 -0.1 -0.615" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr3_support/meshes/kr3/collision/link_3.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_4">
+      <visual>
+        <origin xyz="-0.1 0 -0.660" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr3_support/meshes/kr3/visual/link_4.stl" />
+        </geometry>
+        <xacro:material_kuka_ral_pure_white />
+      </visual>
+      <collision>
+        <origin xyz="-0.1 0 -0.660" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr3_support/meshes/kr3/collision/link_4.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_5">
+      <visual>
+        <origin xyz="-0.1 0 -0.885" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr3_support/meshes/kr3/visual/link_5.stl" />
+        </geometry>
+        <xacro:material_kuka_ral_pure_white />
+      </visual>
+      <collision>
+        <origin xyz="-0.1 0 -0.885" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr3_support/meshes/kr3/collision/link_5.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_6">
+      <visual>
+        <origin xyz="-0.1 0 -0.960" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr3_support/meshes/kr3/visual/link_6.stl" />
+        </geometry>
+        <xacro:material_kuka_pedestal />
+      </visual>
+      <collision>
+        <origin xyz="-0.1 0 -0.960" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr3_support/meshes/kr3/collision/link_6.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <!-- This frame corresponds to the $FLANGE coordinate system in KUKA KRC controllers. -->
+    <link name="${prefix}tool0" />
+
+    <joint name="${prefix}joint_a1" type="revolute">
+      <origin xyz="0 0 0.175" rpy="0 0 0"/>
+      <parent link="${prefix}base_link"/>
+      <child link="${prefix}link_1"/>
+      <axis xyz="0 0 -1"/>
+      <limit lower="${radians(-180)}" upper="${radians(180)}" effort="0" velocity="${radians(240)}"/>
+    </joint>
+    <joint name="${prefix}joint_a2" type="revolute">
+      <origin xyz="0.1 0.1 0.175" rpy="0 0 0"/>
+      <parent link="${prefix}link_1"/>
+      <child link="${prefix}link_2"/>
+      <axis xyz="0 1 0"/>
+      <limit lower="${radians(-45)}" upper="${radians(135)}" effort="0" velocity="${radians(210)}"/>
+    </joint>
+    <joint name="${prefix}joint_a3" type="revolute">
+      <origin xyz="0 0 0.265" rpy="0 0 0"/>
+      <parent link="${prefix}link_2"/>
+      <child link="${prefix}link_3"/>
+      <axis xyz="0 1 0"/>
+      <limit lower="${radians(-135)}" upper="${radians(135)}" effort="0" velocity="${radians(240)}"/>
+    </joint>
+    <joint name="${prefix}joint_a4" type="revolute">
+      <origin xyz="0 -0.1 0.045" rpy="0 0 0"/>
+      <parent link="${prefix}link_3"/>
+      <child link="${prefix}link_4"/>
+      <axis xyz="0 0 -1"/>
+      <limit lower="${radians(-180)}" upper="${radians(180)}" effort="0" velocity="${radians(375)}"/>
+    </joint>
+    <joint name="${prefix}joint_a5" type="revolute">
+      <origin xyz="0 0 0.225" rpy="0 0 0"/>
+      <parent link="${prefix}link_4"/>
+      <child link="${prefix}link_5"/>
+      <axis xyz="0 1 0"/>
+      <limit lower="${radians(-135)}" upper="${radians(135)}" effort="0" velocity="${radians(300)}"/>
+    </joint>
+    <joint name="${prefix}joint_a6" type="revolute">
+      <origin xyz="0 0 0.075" rpy="0 0 0"/>
+      <parent link="${prefix}link_5"/>
+      <child link="${prefix}link_6"/>
+      <axis xyz="0 0 -1"/>
+      <limit lower="${radians(-350)}" upper="${radians(350)}" effort="0" velocity="${radians(375)}"/>
+    </joint>
+    <joint name="${prefix}joint_a6-tool0" type="fixed">
+      <parent link="${prefix}link_6"/>
+      <child link="${prefix}tool0"/>
+      <origin xyz="0 0 0" rpy="0 ${radians(90)} 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>
+  </xacro:macro>
+</robot>