KUKA KR6R900SIXX Gazebo

Overview

This package contains the configuration files and ros packages required to simulate the kuka kr6r900sixx manipulator in gazebo together with the ros_control packages and the MoveIt! motion planner.

Directory structure of the kuka_experimantal/kuka_kr6_gazebo package:

• launch directory:  

  • Requires a valid xarco URDF model in the kuka_experimantal/kuka_kr6_support package to load the robot model onto the parameter server. The robot model parameter is saved as robot_description.
  • Inits and starts the gazebo ros_control interface

• config directory:

  • joint_state_controller.yaml joint state controller to publishes the joint values of the robot
  • arm_controller.yaml JointTrajectoryController which takes in a trajector e.g. from moveit and drives the joints of the robot

• urdf directory:

  • xml elements, which are required by gazebo to make the urdf file(s) provided in the kuka_experimental/kuka_kr6_support package usable with gazebo, are inserted into the kuka_kr6r900sixx_macro.xarco file!
  • The currently used intertia xml elements are not well/randomly defined, values were added only to provide a functional test simulation! Basic transmission elements have been added to the URDF files. Further improvement may be required to acquire a more realistic simulation.

Build the setup

1. Install up-to-date ros distribution and source the setup.sh script
2. cd in the cloned directory from this repo and run catkin_make to build the containing packages.
3. make sure you have the ros_gazeo_pkgs package installed
4. if not already in your ~/.basrc file: source $CATKIN_WS/devel/setup.sh

Using Moveit! together with Gazebo Simulator

1. Bring the robot model into gazebo and load the ros_control controllers: roslaunch kuka_kr6_gazebo kr6r900sixx_gazebo.launch

2. Launch moveit! and ensure that it is configured to run alongside Gazebo: roslaunch kuka_kr6r900sixx_moveit_config moveit_planning_execution_rsi.launch sim:=true

Useful Links

• Based on ABB Gazebo Simulation
• Install the ros_gazebo_pkgs HowTo
• URDF in gazebo Tutorial
• Gazebo and ros_control Tutorial