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irb5400_macro.xacro
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irb5400_macro.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find abb_resources)/urdf/common_materials.xacro"/>
<xacro:macro name="abb_irb5400" params="prefix">
<!-- link list -->
<link name="${prefix}base_link">
<visual>
<geometry>
<mesh filename="package://abb_irb5400_support/meshes/irb5400/visual/base_link.dae"/>
</geometry>
<xacro:material_abb_orange />
</visual>
<collision>
<geometry>
<mesh filename="package://abb_irb5400_support/meshes/irb5400/collision/base_link.stl"/>
</geometry>
<xacro:material_abb_yellow />
</collision>
</link>
<link name="${prefix}link_1">
<visual>
<geometry>
<mesh filename="package://abb_irb5400_support/meshes/irb5400/visual/link_1.dae"/>
</geometry>
<xacro:material_abb_orange />
</visual>
<collision>
<geometry>
<mesh filename="package://abb_irb5400_support/meshes/irb5400/collision/link_1.stl"/>
</geometry>
<xacro:material_abb_yellow />
</collision>
</link>
<link name="${prefix}link_2">
<visual>
<geometry>
<mesh filename="package://abb_irb5400_support/meshes/irb5400/visual/link_2.dae"/>
</geometry>
<xacro:material_abb_dark_gray />
</visual>
<collision>
<geometry>
<mesh filename="package://abb_irb5400_support/meshes/irb5400/collision/link_2.stl"/>
</geometry>
<xacro:material_abb_yellow />
</collision>
</link>
<link name="${prefix}link_3">
<visual>
<geometry>
<mesh filename="package://abb_irb5400_support/meshes/irb5400/visual/link_3.dae"/>
</geometry>
<xacro:material_abb_orange />
</visual>
<collision>
<geometry>
<mesh filename="package://abb_irb5400_support/meshes/irb5400/collision/link_3.stl"/>
</geometry>
<xacro:material_abb_yellow />
</collision>
</link>
<link name="${prefix}link_4">
<visual>
<geometry>
<mesh filename="package://abb_irb5400_support/meshes/irb5400/visual/link_4.dae"/>
</geometry>
<xacro:material_abb_dark_gray />
</visual>
<collision>
<geometry>
<mesh filename="package://abb_irb5400_support/meshes/irb5400/collision/link_4.stl"/>
</geometry>
<xacro:material_abb_yellow />
</collision>
</link>
<link name="${prefix}link_5">
<visual>
<geometry>
<mesh filename="package://abb_irb5400_support/meshes/irb5400/visual/link_5.dae"/>
</geometry>
<xacro:material_abb_dark_gray />
</visual>
<collision>
<geometry>
<mesh filename="package://abb_irb5400_support/meshes/irb5400/collision/link_5.stl"/>
</geometry>
<xacro:material_abb_yellow />
</collision>
</link>
<link name="${prefix}link_5b">
<visual>
<geometry>
<mesh filename="package://abb_irb5400_support/meshes/irb5400/visual/link_5b.dae"/>
</geometry>
<xacro:material_abb_dark_gray />
</visual>
<collision>
<geometry>
<mesh filename="package://abb_irb5400_support/meshes/irb5400/collision/link_5b.stl"/>
</geometry>
<xacro:material_abb_yellow />
</collision>
</link>
<link name="${prefix}link_6">
<visual>
<geometry>
<mesh filename="package://abb_irb5400_support/meshes/irb5400/visual/link_6.dae"/>
</geometry>
<xacro:material_abb_black />
</visual>
<collision>
<geometry>
<mesh filename="package://abb_irb5400_support/meshes/irb5400/collision/link_6.stl"/>
</geometry>
<xacro:material_abb_yellow />
</collision>
</link>
<link name="${prefix}tool0"/>
<!-- end of link list -->
<!-- joint list -->
<joint name="${prefix}joint_1" type="revolute">
<parent link="${prefix}base_link"/>
<child link="${prefix}link_1"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit lower="-2.617" upper="2.617" effort="100" velocity="2.3911"/>
</joint>
<joint name="${prefix}joint_2" type="revolute">
<parent link="${prefix}link_1"/>
<child link="${prefix}link_2"/>
<origin xyz="0.300 0 0.660" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<limit lower="-1.396" upper="1.396" effort="100" velocity="2.3911"/>
</joint>
<joint name="${prefix}joint_3" type="revolute">
<parent link="${prefix}link_2"/>
<child link="${prefix}link_3"/>
<origin xyz="0 0 1.200" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<limit lower="-1.308" upper="1.308" effort="100" velocity="2.3911"/>
</joint>
<joint name="${prefix}joint_4" type="revolute">
<parent link="${prefix}link_3"/>
<child link="${prefix}link_4"/>
<origin xyz="1.339 0 0.186" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<limit lower="-6.0" upper="6.0" effort="100" velocity="8.1157"/>
</joint>
<joint name="${prefix}joint_5" type="revolute">
<parent link="${prefix}link_4"/>
<child link="${prefix}link_5"/>
<origin xyz="0.0693 0 0" rpy="0 0.6109 0"/>
<axis xyz="1 0 0"/>
<limit lower="-6.0" upper="6.0" effort="100" velocity="6.1086"/>
</joint>
<joint name="${prefix}joint_5b" type="revolute">
<parent link="${prefix}link_5"/>
<child link="${prefix}link_5b"/>
<origin xyz=".106246 0 0.074394" rpy="0 -1.2217 0"/>
<axis xyz="1 0 0"/>
<limit lower="-6.0" upper="6.0" effort="100" velocity="6.1086"/>
<mimic joint="joint_5" multiplier="-1.0" offset="0"/>
</joint>
<joint name="${prefix}joint_6" type="revolute">
<parent link="${prefix}link_5b"/>
<child link="${prefix}link_6"/>
<origin xyz="0.0672 0 -0.0470" rpy="0 0.6109 0"/>
<axis xyz="1 0 0"/>
<limit lower="-6.0" upper="6.0" effort="100" velocity="9.3375"/>
</joint>
<joint name="${prefix}joint_6-tool0" type="fixed">
<parent link="${prefix}link_6"/>
<child link="${prefix}tool0"/>
<origin xyz="0 0 0" rpy="0 1.57079632679 0"/>
</joint>
<!-- end of joint list -->
<!-- ROS base_link to ABB World Coordinates 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>