Kr180r3500 ultra k #240
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Binary file not shown.
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,14 @@ | ||
| cmake_minimum_required(VERSION 3.0.2) | ||
| project(kuka_kr180_support) | ||
|
|
||
| find_package(catkin REQUIRED) | ||
|
|
||
| catkin_package() | ||
|
|
||
| if(CATKIN_ENABLE_TESTING) | ||
| find_package(roslaunch REQUIRED) | ||
| roslaunch_add_file_check(test/roslaunch_test.xml) | ||
| endif() | ||
|
|
||
| install(DIRECTORY config launch meshes urdf | ||
| DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1 @@ | ||
| controller_joint_names: ['joint_a1', 'joint_a2', 'joint_a3', 'joint_a4', 'joint_a5', 'joint_a6'] |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,3 @@ | ||
| <launch> | ||
| <param name="robot_description" command="$(find xacro)/xacro '$(find kuka_kr180_support)/urdf/kr180r3500_ultra_k.xacro'"/> | ||
| </launch> |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,8 @@ | ||
| <launch> | ||
| <include file="$(find kuka_kr180_support)/launch/load_kr180r3500_ultra_k.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> | ||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change | ||||
|---|---|---|---|---|---|---|
| @@ -0,0 +1,47 @@ | ||||||
| <?xml version="1.0"?> | ||||||
| <package format="2"> | ||||||
| <name>kuka_kr180_support</name> | ||||||
| <version>0.1.0</version> | ||||||
| <description> | ||||||
| <p> | ||||||
| ROS-Industrial support for the KUKA KR 180 (and variants). | ||||||
| </p> | ||||||
| <p> | ||||||
| This package contains configuration data, 3D models and launch files | ||||||
| for KUKA KR 180 manipulators. This currently includes the r3500_ultra_k only. | ||||||
|
There was a problem hiding this comment. Other packages use the official naming scheme here, |
||||||
| </p> | ||||||
| <p><b>Specifications</b>:</p> | ||||||
| <ul> | ||||||
| <li>KR 180 r3500_ultra_k - Default</li> | ||||||
| </ul> | ||||||
| <p> Joint limits and maximum joint velocities are based on the information found in the online <a href="https://www.kuka.com/-/media/kuka-downloads/imported/8350ff3ca11642998dbdc81dcc2ed44c/0000325893_en.pdf">datasheet</a>. All urdfs are based on the default motion and joint velocity limits, unless noted otherwise. </p> | ||||||
|
There was a problem hiding this comment. Links tend to get stale so it's preferred to refer to the exact name and revision of the data sheet here instead |
||||||
| <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> | ||||||
| <p> | ||||||
| <b>NB</b>: this package currently uses non-valid inertia parameters. </p> | ||||||
|
There was a problem hiding this comment. Please remove the inertia data then |
||||||
| </description> | ||||||
| <author>Shaun Edwards</author> | ||||||
| <maintainer email="inigo.moreno@tecnalia.com.com">Iñigo Moreno</maintainer> | ||||||
|
There was a problem hiding this comment.
Suggested change
and then please add Gijs and me as maintainer unless you want to become a full maintainer for the whole kuka_experimental repo |
||||||
| <license>BSD</license> | ||||||
|
|
||||||
| <url type="website">http://wiki.ros.org/kuka_kr180_support</url> | ||||||
| <url type="bugtracker">https://github.com/ros-industrial/kuka_experimental/issues</url> | ||||||
| <url type="repository">https://github.com/ros-industrial/kuka_experimental</url> | ||||||
|
|
||||||
| <buildtool_depend>catkin</buildtool_depend> | ||||||
|
|
||||||
| <test_depend>roslaunch</test_depend> | ||||||
|
|
||||||
| <exec_depend>industrial_robot_client</exec_depend> | ||||||
| <exec_depend>joint_state_publisher</exec_depend> | ||||||
| <exec_depend>robot_state_publisher</exec_depend> | ||||||
| <exec_depend>rviz</exec_depend> | ||||||
| <exec_depend>xacro</exec_depend> | ||||||
|
|
||||||
| <export> | ||||||
| <architecture_independent/> | ||||||
| </export> | ||||||
| </package> | ||||||
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,9 @@ | ||
| <launch> | ||
| <group ns="load_kr180r3500_ultra_k__"> | ||
| <include file="$(find kuka_kr180_support)/launch/load_kr180r3500_ultra_k.launch"/> | ||
| </group> | ||
|
|
||
| <group ns="test_kr180r3500_ultra_k__"> | ||
| <include file="$(find kuka_kr180_support)/launch/test_kr180r3500_ultra_k.launch"/> | ||
| </group> | ||
| </launch> |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,5 @@ | ||
| <?xml version="1.0"?> | ||
| <robot name="kuka_kr180" xmlns:xacro="http://wiki.ros.org/xacro"> | ||
| <xacro:include filename="$(find kuka_kr180_support)/urdf/kr180r3500_ultra_k_macro.xacro"/> | ||
| <xacro:kuka_kr180r3500_ultra_k prefix=""/> | ||
| </robot> |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,218 @@ | ||
| <?xml version="1.0"?> | ||
| <robot xmlns:xacro="http://wiki.ros.org/xacro"> | ||
|
|
||
| <xacro:macro name="kuka_kr180r3500_ultra_k" params="prefix"> | ||
| <!-- links --> | ||
| <link name="${prefix}base_link"> | ||
| <inertial> | ||
| <origin xyz="-0.027804 0.00039112 0.14035" rpy="0 0 0"/> | ||
| <mass value="1572.9"/> | ||
| <inertia ixx="89.282" ixy="-0.47721" ixz="0.85562" iyy="107.51" iyz="0.0067576" izz="172.02"/> | ||
| </inertial> | ||
| <visual> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| <geometry> | ||
| <mesh filename="package://kuka_kr180_support/meshes/kr180r3500_ultra_k/visual/base_link.dae"/> | ||
| </geometry> | ||
| </visual> | ||
| <collision> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| <geometry> | ||
| <mesh filename="package://kuka_kr180_support/meshes/kr180r3500_ultra_k/collision/base_link.stl"/> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
| <link name="${prefix}link_1"> | ||
| <inertial> | ||
| <origin xyz="-0.036811 -0.024697 0.56577" rpy="0 0 0"/> | ||
| <mass value="1385.5"/> | ||
| <inertia ixx="90.873" ixy="33.809" ixz="17.159" iyy="147.03" iyz="0.063634" izz="168.19"/> | ||
| </inertial> | ||
| <visual> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| <geometry> | ||
| <mesh filename="package://kuka_kr180_support/meshes/kr180r3500_ultra_k/visual/link_1.dae"/> | ||
| </geometry> | ||
| </visual> | ||
| <collision> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| <geometry> | ||
| <mesh filename="package://kuka_kr180_support/meshes/kr180r3500_ultra_k/collision/link_1.stl"/> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
| <link name="${prefix}link_2"> | ||
| <inertial> | ||
| <origin xyz="0.016923 -0.19196 0.44751" rpy="0 0 0"/> | ||
| <mass value="958.62"/> | ||
| <inertia ixx="180.42" ixy="-0.83462" ixz="0.32549" iyy="177.68" iyz="-20.82" izz="20.495"/> | ||
| </inertial> | ||
| <visual> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| <geometry> | ||
| <mesh filename="package://kuka_kr180_support/meshes/kr180r3500_ultra_k/visual/link_2.dae"/> | ||
| </geometry> | ||
| </visual> | ||
| <collision> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| <geometry> | ||
| <mesh filename="package://kuka_kr180_support/meshes/kr180r3500_ultra_k/collision/link_2.stl"/> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
| <link name="${prefix}link_3"> | ||
| <inertial> | ||
| <origin xyz="0.18842 0.18344 -0.042799" rpy="0 0 0"/> | ||
| <mass value="710.03"/> | ||
| <inertia ixx="11.887" ixy="-0.12154" ixz="-1.3604" iyy="98.805" iyz="-0.056505" izz="96.251"/> | ||
| </inertial> | ||
| <visual> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| <geometry> | ||
| <mesh filename="package://kuka_kr180_support/meshes/kr180r3500_ultra_k/visual/link_3.dae"/> | ||
| </geometry> | ||
| <material name=""> | ||
| <color rgba="0.75294 0.75294 0.75294 1"/> | ||
| </material> | ||
| </visual> | ||
| <collision> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| <geometry> | ||
| <mesh filename="package://kuka_kr180_support/meshes/kr180r3500_ultra_k/collision/link_3.stl"/> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
| <link name="${prefix}link_4"> | ||
| <inertial> | ||
| <origin xyz="0.27146 -0.007326 5.2775E-05" rpy="0 0 0"/> | ||
| <mass value="173.73"/> | ||
| <inertia ixx="1.8001" ixy="-0.18515" ixz="0.00051232" iyy="5.514" iyz="0.00070469" izz="6.3498"/> | ||
| </inertial> | ||
| <visual> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| <geometry> | ||
| <mesh filename="package://kuka_kr180_support/meshes/kr180r3500_ultra_k/visual/link_4.dae"/> | ||
| </geometry> | ||
| </visual> | ||
| <collision> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| <geometry> | ||
| <mesh filename="package://kuka_kr180_support/meshes/kr180r3500_ultra_k/collision/link_4.stl"/> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
| <link name="${prefix}link_5"> | ||
| <inertial> | ||
| <origin xyz="0.04379 0.025984 3.5491E-07" rpy="0 0 0"/> | ||
| <mass value="72.17"/> | ||
| <inertia ixx="0.3938" ixy="-0.085332" ixz="1.7223E-06" iyy="0.68945" iyz="-7.0292E-06" izz="0.67292"/> | ||
| </inertial> | ||
| <visual> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| <geometry> | ||
| <mesh filename="package://kuka_kr180_support/meshes/kr180r3500_ultra_k/visual/link_5.dae"/> | ||
| </geometry> | ||
| </visual> | ||
| <collision> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| <geometry> | ||
| <mesh filename="package://kuka_kr180_support/meshes/kr180r3500_ultra_k/collision/link_5.stl"/> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
| <link name="${prefix}link_6"> | ||
| <inertial> | ||
| <origin xyz="-0.017956 -1.5237E-05 0.00015484" rpy="0 0 0"/> | ||
| <mass value="6.3154"/> | ||
| <inertia ixx="0.031746" ixy="1.7673E-07" ixz="-6.6558E-06" iyy="0.016686" iyz="1.4304E-07" izz="0.016723"/> | ||
| </inertial> | ||
| <visual> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| <geometry> | ||
| <mesh filename="package://kuka_kr180_support/meshes/kr180r3500_ultra_k/visual/link_6.dae"/> | ||
| </geometry> | ||
| </visual> | ||
| <collision> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| <geometry> | ||
| <mesh filename="package://kuka_kr180_support/meshes/kr180r3500_ultra_k/collision/link_6.stl"/> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
| <!-- This frame corresponds to the $TOOL coordinate system in KUKA KRC controllers. --> | ||
| <link name="${prefix}flange"/> | ||
|
|
||
| <!-- joints --> | ||
| <joint name="${prefix}joint_a1" type="revolute"> | ||
| <origin xyz="0 0 0.22" rpy="0 0 0"/> | ||
| <parent link="${prefix}base_link"/> | ||
| <child link="${prefix}link_1"/> | ||
| <axis xyz="0 0 1"/> | ||
| <limit lower="${radians(-185)}" upper="${radians(185)}" effort="0" velocity="${radians(105)}"/> | ||
| </joint> | ||
| <joint name="${prefix}joint_a2" type="revolute"> | ||
| <origin xyz="0.75 0 0.37" rpy="0 0 0"/> | ||
| <parent link="${prefix}link_1"/> | ||
| <child link="${prefix}link_2"/> | ||
| <axis xyz="0 1 0"/> | ||
| <limit lower="${radians(-30)}" upper="${radians(160)}" effort="0" velocity="${radians(101)}"/> | ||
| </joint> | ||
| <joint name="${prefix}joint_a3" type="revolute"> | ||
| <origin xyz="0 -0.168 1.35" rpy="0 0 0"/> | ||
| <parent link="${prefix}link_2"/> | ||
| <child link="${prefix}link_3"/> | ||
| <axis xyz="0 1 0"/> | ||
| <limit lower="${radians(-210)}" upper="${radians(65)}" effort="0" velocity="${radians(107)}"/> | ||
| </joint> | ||
| <joint name="${prefix}joint_a4" type="revolute"> | ||
| <origin xyz="1.16 0.168 -0.041" rpy="0 0 0"/> | ||
| <parent link="${prefix}link_3"/> | ||
| <child link="${prefix}link_4"/> | ||
| <axis xyz="1 0 0"/> | ||
| <limit lower="${radians(-350)}" upper="${radians(350)}" effort="0" velocity="${radians(179)}"/> | ||
| </joint> | ||
| <joint name="${prefix}joint_a5" type="revolute"> | ||
| <origin xyz="0.240 0 0" rpy="0 0 0"/> | ||
| <parent link="${prefix}link_4"/> | ||
| <child link="${prefix}link_5"/> | ||
| <axis xyz="0 1 0"/> | ||
| <limit lower="${radians(-125)}" upper="${radians(125)}" effort="0" velocity="${radians(172)}"/> | ||
| </joint> | ||
| <joint name="${prefix}joint_a6" type="revolute"> | ||
| <origin xyz="0.188 0 0" rpy="0 0 0"/> | ||
| <parent link="${prefix}link_5"/> | ||
| <child link="${prefix}link_6"/> | ||
| <axis xyz="1 0 0"/> | ||
| <limit lower="${radians(-350)}" upper="${radians(350)}" effort="0" velocity="${radians(219)}"/> | ||
| </joint> | ||
| <joint name="${prefix}link_6-flange" type="fixed"> | ||
| <parent link="${prefix}link_6"/> | ||
| <child link="${prefix}flange"/> | ||
| <origin xyz="0.027 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 ${radians(90)} 0"/> | ||
| </joint> | ||
|
|
||
| <!-- rename 'Link1' to 'link_1', maintain bw-compatibility --> | ||
| <link name="${prefix}Link1"/> | ||
| <joint name="${prefix}Link1-link_1" type="fixed"> | ||
| <parent link="${prefix}link_1"/> | ||
| <child link="${prefix}Link1"/> | ||
| <origin xyz="0 0 0" rpy="0 0 0"/> | ||
| </joint> | ||
| </xacro:macro> | ||
| </robot> |
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
There was a problem hiding this comment.
Choose a reason for hiding this comment
The reason will be displayed to describe this comment to others. Learn more.