Create a copy of abb_irb6600_support and rename to abb_irb6640_support

   - The abb_irb6600_support contained the irb6640 not the irb6600. A duplicate of the irb6640 will remain in the abb_irb6600_support package until Jade

abb/package.xml

@@ -17,6 +17,7 @@
   <run_depend>abb_irb2400_support</run_depend>
   <run_depend>abb_irb5400_support</run_depend>
   <run_depend>abb_irb6600_support</run_depend>
+  <run_depend>abb_irb6640_support</run_depend>
   <run_depend>abb_irb6640_moveit_config</run_depend>
 
 

abb_irb6640_support/CHANGELOG.rst

@@ -0,0 +1,51 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package abb_irb6600_support
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.2.0 (2015-06-06)
+------------------
+* No changes
+
+1.1.9 (2015-04-07)
+------------------
+* No changes
+
+1.1.8 (2015-04-06)
+------------------
+* No changes
+
+1.1.7 (2015-04-01)
+------------------
+* Merged hydro branch
+  - Updated CHANGELOG.rst and package.xml files
+* Fix incorrect maintainer email in manifests. Fix `#65 <https://github.com/Levi-Armstrong/abb/issues/65>`_.
+* Fix `#32 <https://github.com/Levi-Armstrong/abb/issues/32>`_: corrects tool0 to match robot controller
+* Fix for issue `#49 <https://github.com/Levi-Armstrong/abb/issues/49>`_: add 'base' link (transform to World)
+  This should not affect existing kinematic plugins or MoveIt configurations:
+  - the link is not part of the main kinematic chain
+  - the transform is implemented as a fixed joint
+* Contributors: Levi Armstrong, Shaun Edwards, gavanderhoorn
+
+1.1.6 (2015-03-17)
+------------------
+* No changes
+
+1.1.5 (2015-03-17)
+------------------
+* No changes
+
+1.1.4 (2014-12-14)
+------------------
+* No changes
+
+1.1.3 (2014-09-05)
+------------------
+* Bump versions.
+* support: add roslaunch testing.
+* support: add robot interface and visualisation convenience launchfiles.
+  Defaults for 'J23_coupled' argument/parameter copied from irb_2400_moveit_config
+  and irb_6640_moveit_config packages.
+  TODO: provide default for coupling factor of IRB 5400 (no existing value available).
+* irb6600: move IRB 6600 support into separate support pkg.
+  Meshes and urdfs copied from abb_common package.
+* Contributors: gavanderhoorn

abb_irb6640_support/CMakeLists.txt

@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(abb_irb6640_support)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+if (CATKIN_ENABLE_TESTING)
+  find_package(roslaunch REQUIRED)
+  roslaunch_add_file_check(tests/roslaunch_test.xml)
+endif()
+
+install(DIRECTORY dir config launch meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

abb_irb6640_support/config/joint_names_irb6640_185_280.yaml

@@ -0,0 +1 @@
+controller_joint_names: ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']

abb_irb6640_support/launch/load_irb6640_185_280.launch

@@ -0,0 +1,3 @@
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find abb_irb6640_support)/urdf/irb6640_185_280.xacro'" />
+</launch>

abb_irb6640_support/launch/robot_interface_download_irb6640_185_280.launch

@@ -0,0 +1,20 @@
+<!--
+  Manipulator specific version of abb_driver's 'robot_interface.launch'.
+
+  Defaults provided for IRB 6640 185/2.8:
+   - J23_coupled = false
+
+  Usage:
+    robot_interface_download_irb6640_185_280.launch robot_ip:=<value>
+-->
+<launch>
+  <arg name="robot_ip" />
+  <arg name="J23_coupled" default="false" />
+
+  <rosparam command="load" file="$(find abb_irb6640_support)/config/joint_names_irb6640_185_280.yaml" />
+
+  <include file="$(find abb_driver)/launch/robot_interface.launch">
+    <arg name="robot_ip"    value="$(arg robot_ip)" />
+    <arg name="J23_coupled" value="$(arg J23_coupled)" />
+  </include>
+</launch>

abb_irb6640_support/launch/robot_state_visualize_irb6640_185_280.launch

@@ -0,0 +1,27 @@
+<!--
+  Manipulator specific version of the state visualizer.
+
+  Defaults provided for IRB 6640 185/2.80:
+   - J23_coupled = false
+
+  Usage:
+    robot_state_visualize_irb6640_185_280.launch robot_ip:=<value>
+-->
+<launch>
+  <arg name="robot_ip" />
+  <arg name="J23_coupled" default="false" />
+
+  <rosparam command="load" file="$(find abb_irb6640_support)/config/joint_names_irb6640_185_280.yaml" />
+
+  <include file="$(find abb_driver)/launch/robot_interface.launch">
+    <arg name="robot_ip"    value="$(arg robot_ip)" />
+    <arg name="J23_coupled" value="$(arg J23_coupled)" />
+  </include>
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher"
+    type="robot_state_publisher" />
+
+  <include file="$(find abb_irb6640_support)/launch/load_irb6640_185_280.launch" />
+
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>

abb_irb6640_support/launch/test_irb6640_185_280.launch

@@ -0,0 +1,7 @@
+<launch>
+        <include file="$(find abb_irb6640_support)/launch/load_irb6640_185_280.launch" />
+        <param name="use_gui" value="true" />
+        <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+        <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+        <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>

abb_irb6640_support/package.xml

@@ -0,0 +1,41 @@
+<package>
+  <name>abb_irb6640_support</name>
+  <version>1.2.0</version>
+  <description>
+    <p>
+      ROS-Industrial support for the ABB IRB 6640 (and variants).
+    </p>
+    <p>
+      This package contains configuration data, 3D models and launch files
+      for ABB IRB 6640 manipulators. This currently includes the base model.
+    </p>
+    <p>
+    Joint limits and max joint velocities are based on the information in the
+    <a href="http://www.abbrobots.co.uk/en/3HAC028284-en.pdf">ABB IRB 6640 technical data sheet</a>
+    (Version: 3HAC 028284-001 Rev. N). All URDFs / XACROs are based on the default
+    motion and joint velocity limits, unless noted otherwise (ie: no support for
+    high speed joints, extended / limited motion ranges or other options).
+    </p>
+    <p>
+      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.
+    </p>
+  </description>
+  <author email="ds____on@swri.org">Dan Solomon (Southwest Research Institute)</author>
+  <maintainer email="sedwards@swri.org">Shaun Edwards (Southwest Research Institute)</maintainer>
+  <license>Apache2</license>
+
+  <url type="website">http://ros.org/wiki/abb_irb6640_support</url>
+  <url type="bugtracker">https://github.com/ros-industrial/abb/issues</url>
+  <url type="repository">https://github.com/ros-industrial/abb</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>roslaunch</build_depend>
+
+  <run_depend>abb_driver</run_depend>
+  <run_depend>joint_state_publisher</run_depend>
+  <run_depend>robot_state_publisher</run_depend>
+  <run_depend>rviz</run_depend>
+</package>

abb_irb6640_support/tests/roslaunch_test.xml

@@ -0,0 +1,23 @@
+<launch>
+  <arg name="ip_str" value="127.0.0.1" />
+
+  <group ns="load_irb6640_185_280__">
+    <include file="$(find abb_irb6640_support)/launch/load_irb6640_185_280.launch"/>
+  </group>
+
+  <group ns="test_irb6640_185_280__">
+    <include file="$(find abb_irb6640_support)/launch/test_irb6640_185_280.launch"/>
+  </group>
+
+  <group ns="robot_interface_download_irb6640_185_280__">
+    <include file="$(find abb_irb6640_support)/launch/robot_interface_download_irb6640_185_280.launch">
+      <arg name="robot_ip" value="$(arg ip_str)" />
+    </include>
+  </group>
+
+  <group ns="robot_state_visualize_irb6640_185_280__">
+    <include file="$(find abb_irb6640_support)/launch/robot_state_visualize_irb6640_185_280.launch">
+      <arg name="robot_ip" value="$(arg ip_str)" />
+    </include>
+  </group>
+</launch>