Add opw config

Author: simonschmeisser

kuka_kr60_support/CMakeLists.txt

@@ -1,5 +1,4 @@
- 
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 
 project(kuka_kr60_support)
 
@@ -12,8 +11,6 @@ if (CATKIN_ENABLE_TESTING)
   roslaunch_add_file_check(test/roslaunch_test_kr60ha.xml)
 endif()
 
-foreach(dir launch meshes urdf)
-  install(
-    DIRECTORY ${dir}/
-    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
-endforeach()
+install(
+  DIRECTORY config launch meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

kuka_kr60_support/config/joint_names_kuka_kr60ha.yaml

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

kuka_kr60_support/config/opw_parameters_kr60ha.yaml

@@ -0,0 +1,21 @@
+#
+# Parameters for use with IK solvers which support OPW (Ortho-Parallel Wrist)
+# kinematic configurations, as described in the paper "An Analytical Solution
+# of the Inverse Kinematics Problem of Industrial Serial Manipulators with an
+# Ortho-parallel Basis and a Spherical Wrist" by Mathias Brandstötter, Arthur
+# Angerer, and Michael Hofbaur (Proceedings of the Austrian Robotics Workshop
+# 2014, 22-23 May, 2014, Linz, Austria).
+#
+# The moveit_opw_kinematics_plugin package provides such a solver.
+#
+opw_kinematics_geometric_parameters:
+    a1:  0.350
+    a2:  -0.145
+    b:   0.000
+    c1:  0.815
+    c2:  0.850
+    c3:  0.820
+    c4:  0.170
+opw_kinematics_joint_offsets: [0.0, -1.57079632679, 0.0, 0.0, 0.0, 0.0]
+opw_kinematics_joint_sign_corrections: [-1, 1, 1, -1, 1, -1]
+