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irb2400_macro.xacro
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irb2400_macro.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find abb_resources)/urdf/common_materials.xacro"/>
<xacro:macro name="abb_irb2400" params="prefix">
<!-- link list -->
<link name="${prefix}base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://abb_irb2400_support/meshes/irb2400/visual/base_link.dae"/>
</geometry>
<xacro:material_abb_orange />
</visual>
<collision>
<geometry>
<mesh filename="package://abb_irb2400_support/meshes/irb2400/collision/base_link.stl"/>
</geometry>
<xacro:material_abb_yellow />
</collision>
</link>
<link name="${prefix}link_1">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://abb_irb2400_support/meshes/irb2400/visual/link_1.dae"/>
</geometry>
<xacro:material_abb_orange />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://abb_irb2400_support/meshes/irb2400/collision/link_1.stl"/>
</geometry>
<xacro:material_abb_yellow />
</collision>
</link>
<link name="${prefix}link_2">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://abb_irb2400_support/meshes/irb2400/visual/link_2.dae"/>
</geometry>
<xacro:material_abb_orange />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://abb_irb2400_support/meshes/irb2400/collision/link_2_whole.stl"/>
</geometry>
<xacro:material_abb_yellow />
</collision>
</link>
<link name="${prefix}link_3">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://abb_irb2400_support/meshes/irb2400/visual/link_3.dae"/>
</geometry>
<xacro:material_abb_orange />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://abb_irb2400_support/meshes/irb2400/collision/link_3.stl"/>
</geometry>
<xacro:material_abb_yellow />
</collision>
</link>
<link name="${prefix}link_4">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://abb_irb2400_support/meshes/irb2400/visual/link_4.dae"/>
</geometry>
<xacro:material_abb_orange />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://abb_irb2400_support/meshes/irb2400/collision/link_4.stl"/>
</geometry>
<xacro:material_abb_yellow />
</collision>
</link>
<link name="${prefix}link_5">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://abb_irb2400_support/meshes/irb2400/visual/link_5.dae"/>
</geometry>
<xacro:material_abb_orange />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://abb_irb2400_support/meshes/irb2400/collision/link_5.stl"/>
</geometry>
<xacro:material_abb_yellow />
</collision>
</link>
<link name="${prefix}link_6">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://abb_irb2400_support/meshes/irb2400/visual/link_6.dae"/>
</geometry>
<xacro:material_abb_black />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="package://abb_irb2400_support/meshes/irb2400/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">
<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="-3.1416" upper="3.1416" effort="0" velocity="2.618"/>
</joint>
<joint name="${prefix}joint_2" type="revolute">
<origin xyz="0.1 0 0.615" rpy="0 0 0"/>
<parent link="${prefix}link_1"/>
<child link="${prefix}link_2"/>
<axis xyz="0 1 0"/>
<limit lower="-1.7453" upper="1.9199" effort="0" velocity="2.618"/>
</joint>
<joint name="${prefix}joint_3" type="revolute">
<origin xyz="0 0 0.705" rpy="0 0 0"/>
<parent link="${prefix}link_2"/>
<child link="${prefix}link_3"/>
<axis xyz="0 1 0"/>
<limit lower="-1.0472" upper="1.1345" effort="0" velocity="2.618"/>
</joint>
<joint name="${prefix}joint_4" type="revolute">
<origin xyz="0.258 0 0.135" rpy="0 0 0"/>
<parent link="${prefix}link_3"/>
<child link="${prefix}link_4"/>
<axis xyz="1 0 0"/>
<limit lower="-3.49" upper="3.49" effort="0" velocity="6.2832"/>
</joint>
<joint name="${prefix}joint_5" type="revolute">
<origin xyz="0.497 0 0" rpy="0 0 0"/>
<parent link="${prefix}link_4"/>
<child link="${prefix}link_5"/>
<axis xyz="0 1 0"/>
<limit lower="-2.0944" upper="2.0944" effort="0" velocity="6.2832"/>
</joint>
<joint name="${prefix}joint_6" type="revolute">
<origin xyz="0.085 0 0" rpy="0 0 0"/>
<parent link="${prefix}link_5"/>
<child link="${prefix}link_6"/>
<axis xyz="1 0 0"/>
<limit lower="-6.9813" upper="6.9813" effort="0" velocity="7.854"/>
</joint>
<joint name="${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>