Kr300 r2700-2 support

kuka_experimental/package.xml

@@ -18,6 +18,7 @@
   <exec_depend>kuka_kr150_support</exec_depend>
   <exec_depend>kuka_kr16_support</exec_depend>
   <exec_depend>kuka_kr210_support</exec_depend>
+  <exec_depend>kuka_kr300_support</exec_depend>
   <exec_depend>kuka_kr5_support</exec_depend>
   <exec_depend>kuka_kr6_support</exec_depend>
   <exec_depend>kuka_lbr_iiwa_support</exec_depend>
@@ -29,4 +30,4 @@
   <export>
     <metapackage/>
   </export>
-</package>
+</package>

kuka_kr300_support/CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(kuka_kr300_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})

kuka_kr300_support/config/joint_names_kr300r2700_2.yaml

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

kuka_kr300_support/launch/load_kr300r2700_2.launch

@@ -0,0 +1,3 @@
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro '$(find kuka_kr300_support)/urdf/kr300r2700_2.xacro'"/>
+</launch>

kuka_kr300_support/launch/test_kr300r2700_2.launch

@@ -0,0 +1,8 @@
+<launch>
+  <include file="$(find kuka_kr300_support)/launch/load_kr300r2700_2.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_kr300_support/package.xml

@@ -0,0 +1,47 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>kuka_kr300_support</name>
+  <version>0.1.0</version>
+  <description>
+    <p>
+      ROS-Industrial support for the KUKA KR 300 (and variants).
+    </p>
+    <p>
+      This package contains configuration data, 3D models and launch files
+      for KUKA KR 300 manipulators. This currently includes the r2700_2 only.
+    </p>
+    <p><b>Specifications</b>:</p>
+    <ul>
+      <li>KR 300 r2700_2 - 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>
+    <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>
+  </description>
+  <author>Shaun Edwards</author>
+  <maintainer email="[email protected]">Iñigo Moreno</maintainer>
+  <license>BSD</license>
+
+  <url type="website">http://wiki.ros.org/kuka_kr300_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>

kuka_kr300_support/test/roslaunch_test.xml

@@ -0,0 +1,9 @@
+<launch>
+  <group ns="load_kr300r2700_2__">
+    <include file="$(find kuka_kr300_support)/launch/load_kr300r2700_2.launch"/>
+  </group>
+
+  <group ns="test_kr300r2700_2__">
+    <include file="$(find kuka_kr300_support)/launch/test_kr300r2700_2.launch"/>
+  </group>
+</launch>

kuka_kr300_support/urdf/kr300r2700_2.xacro

@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<robot name="kuka_kr300" xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:include filename="$(find kuka_kr300_support)/urdf/kr300r2700_2_macro.xacro"/>
+  <xacro:kuka_kr300r2700_2 prefix=""/>
+</robot>

kuka_kr300_support/urdf/kr300r2700_2_macro.xacro

@@ -0,0 +1,218 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+
+  <xacro:macro name="kuka_kr300r2700_2" params="prefix">
+    <!-- links -->
+    <link name="${prefix}base_link">
+      <inertial>
+        <origin xyz="-0.027804 0.00039112 0.14035" rpy="0 0 0"/>
+        <mass value="1572.9"/>
+        <inertia ixx="89.282" ixy="-0.47721" ixz="0.85562" iyy="107.51" iyz="0.0067576" izz="172.02"/>
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr300_support/meshes/kr300r2700_2/visual/base_link.dae"/>
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr300_support/meshes/kr300r2700_2/collision/base_link.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${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_kr300_support/meshes/kr300r2700_2/visual/link_1.dae"/>
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr300_support/meshes/kr300r2700_2/collision/link_1.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_2">
+      <inertial>
+        <origin xyz="0.016923 -0.19196 0.44751" rpy="0 0 0"/>
+        <mass value="958.62"/>
+        <inertia ixx="180.42" ixy="-0.83462" ixz="0.32549" iyy="177.68" iyz="-20.82" izz="20.495"/>
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr300_support/meshes/kr300r2700_2/visual/link_2.dae"/>
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr300_support/meshes/kr300r2700_2/collision/link_2.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${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_kr300_support/meshes/kr300r2700_2/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_kr300_support/meshes/kr300r2700_2/collision/link_3.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_4">
+      <inertial>
+        <origin xyz="0.27146 -0.007326 5.2775E-05" rpy="0 0 0"/>
+        <mass value="173.73"/>
+        <inertia ixx="1.8001" ixy="-0.18515" ixz="0.00051232" iyy="5.514" iyz="0.00070469" izz="6.3498"/>
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr300_support/meshes/kr300r2700_2/visual/link_4.dae"/>
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr300_support/meshes/kr300r2700_2/collision/link_4.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${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_kr300_support/meshes/kr300r2700_2/visual/link_5.dae"/>
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr300_support/meshes/kr300r2700_2/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_kr300_support/meshes/kr300r2700_2/visual/link_6.dae"/>
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr300_support/meshes/kr300r2700_2/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="${prefix}joint_a1" type="revolute">
+      <origin xyz="0 0 0.245" rpy="0 0 0"/>
+      <parent link="${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="${prefix}joint_a2" type="revolute">
+      <origin xyz="0.33 0.09 0.4" rpy="0 0 0"/>
+      <parent link="${prefix}link_1"/>
+      <child link="${prefix}link_2"/>
+      <axis xyz="0 1 0"/>
+      <limit lower="${radians(-55)}" upper="${radians(85)}" effort="0" velocity="${radians(101)}"/>
+    </joint>
+    <joint name="${prefix}joint_a3" type="revolute">
+      <origin xyz="0 -0.195 1.15" rpy="0 0 0"/>
+      <parent link="${prefix}link_2"/>
+      <child link="${prefix}link_3"/>
+      <axis xyz="0 1 0"/>
+      <limit lower="${radians(-210)}" upper="${radians(78)}" effort="0" velocity="${radians(107)}"/>
+    </joint>
+    <joint name="${prefix}joint_a4" type="revolute">
+      <origin xyz="0.8685 0.105 0.115" rpy="0 0 0"/>
+      <parent link="${prefix}link_3"/>
+      <child link="${prefix}link_4"/>
+      <axis xyz="1 0 0"/>
+      <limit lower="${radians(-350)}" upper="${radians(350)}" effort="0" velocity="${radians(140)}"/>
+    </joint>
+    <joint name="${prefix}joint_a5" type="revolute">
+      <origin xyz="0.3515 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_4"/>
+      <child link="${prefix}link_5"/>
+      <axis xyz="0 1 0"/>
+      <limit lower="${radians(-122.5)}" upper="${radians(122.5)}" effort="0" velocity="${radians(113)}"/>
+    </joint>
+    <joint name="${prefix}joint_a6" type="revolute">
+      <origin xyz="0.2 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_5"/>
+      <child link="${prefix}link_6"/>
+      <axis xyz="1 0 0"/>
+      <limit lower="${radians(-350)}" upper="${radians(350)}" effort="0" velocity="${radians(180)}"/>
+    </joint>
+    <joint name="${prefix}link_6-flange" type="fixed">
+      <parent link="${prefix}link_6"/>
+      <child link="${prefix}flange"/>
+      <origin xyz="0.04 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>