Add Kuka Kr 6 R1820

Author: timobkt

kuka_kr6_support/CMakeLists.txt

@@ -10,6 +10,7 @@ if (CATKIN_ENABLE_TESTING)
   find_package(roslaunch REQUIRED)
   roslaunch_add_file_check(test/roslaunch_test_kr6r700sixx.xml)
   roslaunch_add_file_check(test/roslaunch_test_kr6r900sixx.xml)
+  roslaunch_add_file_check(test/roslaunch_test_kr6r1820.xml)
 endif()
 
 install(DIRECTORY config launch meshes urdf

kuka_kr6_support/config/joint_names_kuka_kr6_r1820.yaml

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

kuka_kr6_support/launch/load_kuka_kr6_r1820.launch

@@ -0,0 +1,4 @@
+<?xml version="1.0"?>
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find kuka_kr6_support)/urdf/kuka_kr6_r1820.xacro'"/>
+</launch>

kuka_kr6_support/launch/test_kuka_kr6_r1820.launch

@@ -0,0 +1,9 @@
+<?xml version="1.0"?>
+<launch>
+  <include file="$(find kuka_kr6_support)/launch/load_kuka_kr6_r1820.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>