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added support for R900 #134

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1 change: 1 addition & 0 deletions kuka_kr10_support/config/joint_names_kr10r900sixx.yaml
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controller_joint_names: ['joint_a1', 'joint_a2', 'joint_a3', 'joint_a4', 'joint_a5', 'joint_a6']
4 changes: 4 additions & 0 deletions kuka_kr10_support/launch/load_kr10r900sixx.launch
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<?xml version="1.0"?>
<launch>
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find kuka_kr10_support)/urdf/kr10r900sixx.xacro'"/>
</launch>
9 changes: 9 additions & 0 deletions kuka_kr10_support/launch/test_kr10r900sixx.launch
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<?xml version="1.0"?>
<launch>
<include file="$(find kuka_kr10_support)/launch/load_kr10r900sixx.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 $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
</launch>
3 changes: 2 additions & 1 deletion kuka_kr10_support/package.xml
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Expand Up @@ -8,10 +8,11 @@
</p>
<p>
This package contains configuration data, 3D models and launch files
for KUKA KR 10 manipulators. This currently includes the R1100 sixx only.
for KUKA KR 10 manipulators. This currently includes the R900 sixx and R1100 sixx only.
</p>
<p><b>Specifications</b>:</p>
<ul>
<li>KR 10 R900 sixx - Default</li>
<li>KR 10 R1100 sixx - Default</li>
</ul>
<p>
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5 changes: 5 additions & 0 deletions kuka_kr10_support/urdf/kr10r900sixx.xacro
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<?xml version="1.0"?>
<robot name="kuka_kr10r900sixx" xmlns:xacro="http://wiki.ros.org/xacro">
<xacro:include filename="$(find kuka_kr6_support)/urdf/krXr900sixx_macro.xacro" />
<xacro:kuka_krXr900sixx prefix=""/>
</robot>
2 changes: 1 addition & 1 deletion kuka_kr6_support/launch/load_kr6r900sixx.launch
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<?xml version="1.0"?>
<launch>
<param name="robot_description" command="$(find xacro)/xacro.py '$(find kuka_kr6_support)/urdf/kr6r900sixx.xacro'"/>
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find kuka_kr6_support)/urdf/kr6r900sixx.xacro'"/>
</launch>
4 changes: 2 additions & 2 deletions kuka_kr6_support/urdf/kr6r900sixx.xacro
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<?xml version="1.0"?>
<robot name="kuka_kr6r900sixx" xmlns:xacro="http://wiki.ros.org/xacro">
<xacro:include filename="$(find kuka_kr6_support)/urdf/kr6r900sixx_macro.xacro" />
<xacro:kuka_kr6r900sixx prefix=""/>
<xacro:include filename="$(find kuka_kr6_support)/urdf/krXr900sixx_macro.xacro" />
<xacro:kuka_krXr900sixx prefix=""/>
</robot>
17 changes: 8 additions & 9 deletions ..._kr6_support/urdf/kr6r900sixx_macro.xacro → ..._kr6_support/urdf/krXr900sixx_macro.xacro
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<?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_kr6r900sixx" params="prefix">
<xacro:macro name="kuka_krXr900sixx" params="prefix">
<link name="${prefix}base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
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<parent link="${prefix}base_link"/>
<child link="${prefix}link_1"/>
<axis xyz="0 0 -1"/>
<limit effort="0" lower="${-DEG2RAD * 170}" upper="${DEG2RAD * 170}" velocity="${DEG2RAD * 360}"/>
<limit effort="0" lower="${radians(-170)}" upper="${radians(170)}" velocity="${radians(360)}"/>
</joint>
<joint name="${prefix}joint_a2" type="revolute">
<origin xyz="0.025 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="${-DEG2RAD * 190}" upper="${DEG2RAD * 45}" velocity="${DEG2RAD * 300}"/>
<limit effort="0" lower="${radians(-190)}" upper="${radians(45)}" velocity="${radians(300)}"/>
</joint>
<joint name="${prefix}joint_a3" type="revolute">
<origin xyz="0.455 0 0" rpy="0 0 0"/>
<parent link="${prefix}link_2"/>
<child link="${prefix}link_3"/>
<axis xyz="0 1 0"/>
<limit effort="0" lower="${-DEG2RAD * 120}" upper="${DEG2RAD * 156}" velocity="${DEG2RAD * 360}"/>
<limit effort="0" lower="${radians(-120)}" upper="${radians(156)}" velocity="${radians(360)}"/>
</joint>
<joint name="${prefix}joint_a4" type="revolute">
<origin xyz="0 0 0.035" rpy="0 0 0"/>
<parent link="${prefix}link_3"/>
<child link="${prefix}link_4"/>
<axis xyz="-1 0 0"/>
<limit effort="0" lower="${-DEG2RAD * 185}" upper="${DEG2RAD * 185}" velocity="${DEG2RAD * 381}"/>
<limit effort="0" lower="${radians(-185)}" upper="${radians(185)}" velocity="${radians(381)}"/>
</joint>
<joint name="${prefix}joint_a5" type="revolute">
<origin xyz="0.420 0 0" rpy="0 0 0"/>
<parent link="${prefix}link_4"/>
<child link="${prefix}link_5"/>
<axis xyz="0 1 0"/>
<limit effort="0" lower="${-DEG2RAD * 120}" upper="${DEG2RAD * 120}" velocity="${DEG2RAD * 388}"/>
<limit effort="0" lower="${radians(-120)}" upper="${radians(120)}" velocity="${radians(388)}"/>
</joint>
<joint name="${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="${-DEG2RAD * 350}" upper="${DEG2RAD * 350}" velocity="${DEG2RAD * 615}"/>
<limit effort="0" lower="${radians(-350)}" upper="${radians(350)}" velocity="${radians(615)}"/>
</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 ${DEG2RAD * 90} 0"/>
<origin xyz="0 0 0" rpy="0 ${radians(90)} 0"/>
</joint>

<!-- ROS base_link to KUKA $ROBROOT coordinate system transform -->
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