Robot description for LBR IIWA 7 R800

.gitignore

@@ -50,3 +50,8 @@ qtcreator-*
 
 # Catkin custom files
 CATKIN_IGNORE
+
+# blender temp saves
+*.blend1
+# mac osx DS_Store files
+*.DS_Store

kuka_lbr_iiwa_support/launch/load_lbr_iiwa_7_r800.launch

@@ -0,0 +1,3 @@
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find kuka_lbr_iiwa_support)/urdf/lbr_iiwa_7_r800.xacro'" />
+</launch>

kuka_lbr_iiwa_support/urdf/lbr_iiwa_7_r800.xacro

@@ -0,0 +1,5 @@
+<?xml version="1.0" ?>
+<robot name="kuka_lbr_iiwa_7_r800" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:include filename="$(find kuka_lbr_iiwa_support)/urdf/lbr_iiwa_7_r800_macro.xacro"/>
+  <xacro:kuka_lbr_iiwa_7_r800 prefix=""/>
+</robot>

kuka_lbr_iiwa_support/urdf/lbr_iiwa_7_r800_macro.xacro

@@ -0,0 +1,187 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:macro name="kuka_lbr_iiwa_7_r800" params="prefix">
+    <!-- link list -->
+    <link name="${prefix}base_link">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_7_r800/visual/base_link.dae" />
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_7_r800/collision/base_link.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_1">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_7_r800/visual/link_1.dae" />
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_7_r800/collision/link_1.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_2">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_7_r800/visual/link_2.dae" />
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_7_r800/collision/link_2.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_3">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_7_r800/visual/link_3.dae" />
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_7_r800/collision/link_3.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_4">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_7_r800/visual/link_4.dae" />
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_7_r800/collision/link_4.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_5">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_7_r800/visual/link_5.dae" />
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_7_r800/collision/link_5.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_6">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_7_r800/visual/link_6.dae" />
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_7_r800/collision/link_6.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_7">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_7_r800/visual/link_7.dae" />
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_7_r800/collision/link_7.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}tool0" />
+    <!-- end of link list -->
+
+    <!-- joint list -->
+    <joint name="${prefix}joint_a1" type="revolute">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <parent link="${prefix}base_link" />
+      <child link="${prefix}link_1" />
+      <axis xyz="0 0 1" />
+      <limit lower="-2.9668" upper="2.9668" effort="0" velocity="1.4834" />
+    </joint>
+    <joint name="${prefix}joint_a2" type="revolute">
+      <origin xyz="-0.00043624 0 0.34" rpy="0 0 0" />
+      <parent link="${prefix}link_1" />
+      <child link="${prefix}link_2" />
+      <axis xyz="0 1 0" />
+      <limit lower="-2.0942" upper="2.0942" effort="0" velocity="1.4834" />
+    </joint>
+    <joint name="${prefix}joint_a3" type="revolute">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <parent link="${prefix}link_2" />
+      <child link="${prefix}link_3" />
+      <axis xyz="0 0 1" />
+      <limit lower="-2.9668" upper="2.9668" effort="0" velocity="1.7452" />
+    </joint>
+    <joint name="${prefix}joint_a4" type="revolute">
+      <origin xyz="0.00043624 0 0.40" rpy="0 0 0" />
+      <parent link="${prefix}link_3" />
+      <child link="${prefix}link_4" />
+      <axis xyz="0 -1 0" />
+      <limit lower="-2.0942" upper="2.0942" effort="0" velocity="1.3089" />
+    </joint>
+    <joint name="${prefix}joint_a5" type="revolute">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <parent link="${prefix}link_4" />
+      <child link="${prefix}link_5" />
+      <axis xyz="0 0 1" />
+      <limit lower="-2.9668" upper="2.9668" effort="0" velocity="2.2688" />
+    </joint>
+    <joint name="${prefix}joint_a6" type="revolute">
+      <origin xyz="0 0 0.4" rpy="0 0 0" />
+      <parent link="${prefix}link_5" />
+      <child link="${prefix}link_6" />
+      <axis xyz="0 1 0" />
+      <limit lower="-2.0942" upper="2.0942" effort="0" velocity="2.356" />
+    </joint>
+    <joint name="${prefix}joint_a7" type="revolute">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <parent link="${prefix}link_6" />
+      <child link="${prefix}link_7" />
+      <axis xyz="0 0 1" />
+      <limit lower="-3.0541" upper="3.0541" effort="0" velocity="2.356" />
+    </joint>
+    <joint name="${prefix}joint_a7-tool0" type="fixed">
+      <origin xyz="0 0 0.126" rpy="0 0 0" />
+      <parent link="${prefix}link_7" />
+      <child link="${prefix}tool0" />
+      <axis xyz="0 0 0" />
+    </joint>
+    <!-- end of joint list -->
+
+    <!-- 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>
+  </xacro:macro>
+</robot>
+