From 9f9ba64551ec12caa08ccf8a0a0ee6849799598b Mon Sep 17 00:00:00 2001 From: Manuel M Date: Wed, 11 Jan 2023 07:42:45 +0100 Subject: [PATCH] add kuka_kr16_support --- kuka_kr16_support/CMakeLists.txt | 16 + .../config/joint_names_kr16.yaml | 1 + .../config/rviz/view_robot_kr16_2.rviz | 249 +++++++++++ kuka_kr16_support/launch/load_kr16_2.launch | 5 + kuka_kr16_support/launch/test_kr16_2.launch | 9 + .../launch/view_kr16_2.launch.py | 71 ++++ .../meshes/kr16_2/collision/base_link.stl | Bin 0 -> 20384 bytes .../meshes/kr16_2/collision/link_1.stl | Bin 0 -> 30284 bytes .../meshes/kr16_2/collision/link_2.stl | Bin 0 -> 32184 bytes .../meshes/kr16_2/collision/link_3.stl | Bin 0 -> 22084 bytes .../meshes/kr16_2/collision/link_4.stl | Bin 0 -> 31484 bytes .../meshes/kr16_2/collision/link_5.stl | Bin 0 -> 15284 bytes .../meshes/kr16_2/collision/link_6.stl | Bin 0 -> 15484 bytes .../meshes/kr16_2/visual/base_link.dae | 100 +++++ .../meshes/kr16_2/visual/link_1.dae | 311 ++++++++++++++ .../meshes/kr16_2/visual/link_2.dae | 100 +++++ .../meshes/kr16_2/visual/link_3.dae | 395 ++++++++++++++++++ .../meshes/kr16_2/visual/link_4.dae | 198 +++++++++ .../meshes/kr16_2/visual/link_5.dae | 100 +++++ .../meshes/kr16_2/visual/link_6.dae | 100 +++++ kuka_kr16_support/package.xml | 47 +++ kuka_kr16_support/test/roslaunch_test.xml | 9 + kuka_kr16_support/urdf/kr16_2.urdf | 217 ++++++++++ kuka_kr16_support/urdf/kr16_2.xacro | 6 + kuka_kr16_support/urdf/kr16_2_macro.xacro | 225 ++++++++++ 25 files changed, 2159 insertions(+) create mode 100644 kuka_kr16_support/CMakeLists.txt create mode 100644 kuka_kr16_support/config/joint_names_kr16.yaml create mode 100644 kuka_kr16_support/config/rviz/view_robot_kr16_2.rviz create mode 100644 kuka_kr16_support/launch/load_kr16_2.launch create mode 100644 kuka_kr16_support/launch/test_kr16_2.launch create mode 100644 kuka_kr16_support/launch/view_kr16_2.launch.py create mode 100644 kuka_kr16_support/meshes/kr16_2/collision/base_link.stl create mode 100644 kuka_kr16_support/meshes/kr16_2/collision/link_1.stl create mode 100644 kuka_kr16_support/meshes/kr16_2/collision/link_2.stl create mode 100644 kuka_kr16_support/meshes/kr16_2/collision/link_3.stl create mode 100644 kuka_kr16_support/meshes/kr16_2/collision/link_4.stl create mode 100644 kuka_kr16_support/meshes/kr16_2/collision/link_5.stl create mode 100644 kuka_kr16_support/meshes/kr16_2/collision/link_6.stl create mode 100644 kuka_kr16_support/meshes/kr16_2/visual/base_link.dae create mode 100644 kuka_kr16_support/meshes/kr16_2/visual/link_1.dae create mode 100644 kuka_kr16_support/meshes/kr16_2/visual/link_2.dae create mode 100644 kuka_kr16_support/meshes/kr16_2/visual/link_3.dae create mode 100644 kuka_kr16_support/meshes/kr16_2/visual/link_4.dae create mode 100644 kuka_kr16_support/meshes/kr16_2/visual/link_5.dae create mode 100644 kuka_kr16_support/meshes/kr16_2/visual/link_6.dae create mode 100644 kuka_kr16_support/package.xml create mode 100644 kuka_kr16_support/test/roslaunch_test.xml create mode 100644 kuka_kr16_support/urdf/kr16_2.urdf create mode 100644 kuka_kr16_support/urdf/kr16_2.xacro create mode 100644 kuka_kr16_support/urdf/kr16_2_macro.xacro diff --git a/kuka_kr16_support/CMakeLists.txt b/kuka_kr16_support/CMakeLists.txt new file mode 100644 index 000000000..770599dc6 --- /dev/null +++ b/kuka_kr16_support/CMakeLists.txt @@ -0,0 +1,16 @@ +cmake_minimum_required(VERSION 3.5) + +project(kuka_kr16_support) + +find_package(ament_cmake REQUIRED) + +if (CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + roslaunch_add_file_check(test/roslaunch_test.xml) +endif() + +install(DIRECTORY config launch meshes urdf + DESTINATION share/${PROJECT_NAME} +) + +ament_package() \ No newline at end of file diff --git a/kuka_kr16_support/config/joint_names_kr16.yaml b/kuka_kr16_support/config/joint_names_kr16.yaml new file mode 100644 index 000000000..1a23ced85 --- /dev/null +++ b/kuka_kr16_support/config/joint_names_kr16.yaml @@ -0,0 +1 @@ +controller_joint_names: ['joint_a1', 'joint_a2', 'joint_a3', 'joint_a4', 'joint_a5', 'joint_a6'] diff --git a/kuka_kr16_support/config/rviz/view_robot_kr16_2.rviz b/kuka_kr16_support/config/rviz/view_robot_kr16_2.rviz new file mode 100644 index 000000000..77b895b52 --- /dev/null +++ b/kuka_kr16_support/config/rviz/view_robot_kr16_2.rviz @@ -0,0 +1,249 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: ~ + Splitter Ratio: 0.5 + Tree Height: 745 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /2D Goal Pose1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_common/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: rviz_default_plugins/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base: + Value: true + base_link: + Value: true + flange: + Value: true + link_1: + Value: true + link_2: + Value: true + link_3: + Value: true + link_4: + Value: true + link_5: + Value: true + link_6: + Value: true + tool0: + Value: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: false + Tree: + base_link: + base: + {} + link_1: + link_2: + link_3: + link_4: + link_5: + link_6: + flange: + tool0: + {} + Update Interval: 0 + Value: true + - Alpha: 1 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + link_1: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_2: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_3: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_4: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_5: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + link_6: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + tool0: + Alpha: 1 + Show Axes: false + Show Trail: false + Mass Properties: + Inertia: false + Mass: false + Name: RobotModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: base + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /goal_pose + - Class: rviz_default_plugins/PublishPoint + Single click: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /clicked_point + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: rviz_default_plugins/Orbit + Distance: 4.382266521453857 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.4607224464416504 + Y: 0.24497589468955994 + Z: 0.1281789243221283 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.155398428440094 + Target Frame: + Value: Orbit (rviz) + Yaw: 5.303589820861816 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1036 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1916 + X: 0 + Y: 20 diff --git a/kuka_kr16_support/launch/load_kr16_2.launch b/kuka_kr16_support/launch/load_kr16_2.launch new file mode 100644 index 000000000..7a7b82d04 --- /dev/null +++ b/kuka_kr16_support/launch/load_kr16_2.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/kuka_kr16_support/launch/test_kr16_2.launch b/kuka_kr16_support/launch/test_kr16_2.launch new file mode 100644 index 000000000..44260a938 --- /dev/null +++ b/kuka_kr16_support/launch/test_kr16_2.launch @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/kuka_kr16_support/launch/view_kr16_2.launch.py b/kuka_kr16_support/launch/view_kr16_2.launch.py new file mode 100644 index 000000000..7ef0cb4eb --- /dev/null +++ b/kuka_kr16_support/launch/view_kr16_2.launch.py @@ -0,0 +1,71 @@ +# Copyright 2021 Stogl Robotics Consulting UG (haftungsbeschränkt) +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from launch import LaunchDescription +from launch.actions import RegisterEventHandler +from launch.event_handlers import OnProcessExit +from launch.substitutions import Command, FindExecutable, PathJoinSubstitution + +from launch_ros.actions import Node +from launch_ros.substitutions import FindPackageShare + + +def generate_launch_description(): + + # Get URDF via xacro + robot_description_content = Command( + [ + PathJoinSubstitution([FindExecutable(name="xacro")]), + " ", + PathJoinSubstitution( + [FindPackageShare("kuka_kr16_support"), "urdf", + "kr16_2.xacro"] + ), + ] + ) + + robot_description = {"robot_description": robot_description_content} + + joint_state_publisher_node = Node( + package="joint_state_publisher_gui", + executable="joint_state_publisher_gui", + ) + + robot_state_publisher_node = Node( + package="robot_state_publisher", + executable="robot_state_publisher", + output="both", + parameters=[robot_description], + ) + + rviz_config_file = PathJoinSubstitution( + [FindPackageShare("kuka_kr16_support"), "config/rviz", + "view_robot_kr16_2.rviz"] + ) + + rviz_node = Node( + package="rviz2", + executable="rviz2", + name="rviz2", + output="log", + arguments=["-d", rviz_config_file] + ) + + nodes = [ + joint_state_publisher_node, + robot_state_publisher_node, + rviz_node + ] + + return LaunchDescription(nodes) diff --git a/kuka_kr16_support/meshes/kr16_2/collision/base_link.stl b/kuka_kr16_support/meshes/kr16_2/collision/base_link.stl new file 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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 +

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+ + + + + + + + + 0.001 0 0 -0.93 0 0.001 0 0 0 0 0.001 -1.32 0 0 0 1 + + + + + + + + + + + + + + diff --git a/kuka_kr16_support/package.xml b/kuka_kr16_support/package.xml new file mode 100644 index 000000000..fcf9a147c --- /dev/null +++ b/kuka_kr16_support/package.xml @@ -0,0 +1,47 @@ + + + kuka_kr16_support + 0.1.0 + +

+ ROS-Industrial support for the KUKA KR16 (and variants). +

+

+ This package contains configuration data, 3D models and launch files + for KUKA KR 16 manipulators. This currently includes the KR 16-2 only. +

+

Specifications:

+
    +
  • KR 16-2 - Default
    • +
+

+ Joint limits and maximum joint velocities are based on the information + found in the online datasheet here. All urdfs are based on the default motion and joint velocity limits, + unless noted otherwise. +

+

+ 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. +

+

+ NB: this package currently uses non-valid inertia parameters. +

+ + Lars Tingelstad + Lars Tingelstad + G.A. vd. Hoorn (TU Delft Robotics Institute) + BSD + + http://wiki.ros.org/kuka_kr16_support + https://github.com/ros-industrial/kuka_experimental/issues + https://github.com/ros-industrial/kuka_experimental + + ament_cmake + + kuka_resources + + + ament_cmake + + diff --git a/kuka_kr16_support/test/roslaunch_test.xml b/kuka_kr16_support/test/roslaunch_test.xml new file mode 100644 index 000000000..c7a70b290 --- /dev/null +++ b/kuka_kr16_support/test/roslaunch_test.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/kuka_kr16_support/urdf/kr16_2.urdf b/kuka_kr16_support/urdf/kr16_2.urdf new file mode 100644 index 000000000..7a526d850 --- /dev/null +++ b/kuka_kr16_support/urdf/kr16_2.urdf @@ -0,0 +1,217 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/kuka_kr16_support/urdf/kr16_2.xacro b/kuka_kr16_support/urdf/kr16_2.xacro new file mode 100644 index 000000000..893a73044 --- /dev/null +++ b/kuka_kr16_support/urdf/kr16_2.xacro @@ -0,0 +1,6 @@ + + + + + + diff --git a/kuka_kr16_support/urdf/kr16_2_macro.xacro b/kuka_kr16_support/urdf/kr16_2_macro.xacro new file mode 100644 index 000000000..da876834e --- /dev/null +++ b/kuka_kr16_support/urdf/kr16_2_macro.xacro @@ -0,0 +1,225 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +