Fix model to match product specification

abb_irb6640_support/CMakeLists.txt

@@ -8,7 +8,11 @@ catkin_package()
 
 if (CATKIN_ENABLE_TESTING)
   find_package(roslaunch REQUIRED)
-  roslaunch_add_file_check(tests/roslaunch_test.xml)
+  roslaunch_add_file_check(tests/roslaunch_test.xml
+    DEPENDENCIES
+      joint_trajectory_action
+      abb_driver_robot_state
+      abb_driver_motion_download_interface)
 endif()
 
 install(DIRECTORY dir config launch meshes urdf

abb_irb6640_support/package.xml

@@ -11,7 +11,7 @@
     </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
+      <a href="http://www.abbrobots.co.uk/en/3HAC028284-en.pdfgit s">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
@@ -27,16 +27,17 @@
   <maintainer email="levi.armstrong@swri.org">Levi Armstrong (Southwest Research Institute)</maintainer>
   <license>Apache2</license>
 
-  <url type="website">http://ros.org/wiki/abb_irb6640_support</url>
+  <url type="website">http://wiki.ros.org/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>
+  <build_depend version_gte="1.9.55">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>
+  <run_depend>xacro</run_depend>
 </package>

abb_irb6640_support/urdf/irb6640_185_280_macro.xacro

@@ -13,11 +13,8 @@
       </collision>
       <visual name="visual">
         <geometry>
-          <mesh filename="package://abb_irb6640_support/meshes/irb6640_185_280/visual/base_link.stl"/>
+          <mesh filename="package://abb_irb6640_support/meshes/irb6640_185_280/visual/base_link.dae"/>
         </geometry>
-        <material name="orange">
-          <color rgba="1 0.43 0 1"/>
-        </material>
       </visual>
     </link>
     <link name="${prefix}link_1">
@@ -29,9 +26,8 @@
       </collision>
       <visual name="visual">
         <geometry>
-          <mesh filename="package://abb_irb6640_support/meshes/irb6640_185_280/visual/link_1.stl"/>
+          <mesh filename="package://abb_irb6640_support/meshes/irb6640_185_280/visual/link_1.dae"/>
         </geometry>
-        <material name="orange"/>
       </visual>
     </link>
     <link name="${prefix}link_2">
@@ -43,9 +39,8 @@
       </collision>
       <visual name="visual">
         <geometry>
-          <mesh filename="package://abb_irb6640_support/meshes/irb6640_185_280/visual/link_2.stl"/>
+          <mesh filename="package://abb_irb6640_support/meshes/irb6640_185_280/visual/link_2.dae"/>
         </geometry>
-        <material name="orange"/>
       </visual>
     </link>
     <link name="${prefix}link_3">
@@ -57,23 +52,20 @@
       </collision>
       <visual name="visual">
         <geometry>
-          <mesh filename="package://abb_irb6640_support/meshes/irb6640_185_280/visual/link_3.stl"/>
+          <mesh filename="package://abb_irb6640_support/meshes/irb6640_185_280/visual/link_3.dae"/>
         </geometry>
-        <material name="orange"/>
       </visual>
     </link>
     <link name="${prefix}link_4">
       <collision name="collision">
         <geometry>
           <mesh filename="package://abb_irb6640_support/meshes/irb6640_185_280/collision/link_4.stl"/>
         </geometry>
-        <material name="yellow"/>
       </collision>
       <visual name="visual">
         <geometry>
-          <mesh filename="package://abb_irb6640_support/meshes/irb6640_185_280/visual/link_4.stl"/>
+          <mesh filename="package://abb_irb6640_support/meshes/irb6640_185_280/visual/link_4.dae"/>
         </geometry>
-        <material name="orange"/>
       </visual>
     </link>
     <link name="${prefix}link_5">
@@ -85,9 +77,8 @@
       </collision>
       <visual name="visual">
         <geometry>
-          <mesh filename="package://abb_irb6640_support/meshes/irb6640_185_280/visual/link_5.stl"/>
+          <mesh filename="package://abb_irb6640_support/meshes/irb6640_185_280/visual/link_5.dae"/>
         </geometry>
-        <material name="orange"/>
       </visual>
     </link>
     <link name="${prefix}link_6">
@@ -99,82 +90,79 @@
       </collision>
       <visual name="visual">
         <geometry>
-          <mesh filename="package://abb_irb6640_support/meshes/irb6640_185_280/visual/link_6.stl"/>
+          <mesh filename="package://abb_irb6640_support/meshes/irb6640_185_280/visual/link_6.dae"/>
         </geometry>
-        <material name="orange"/>
       </visual>
     </link>
     <link name="${prefix}tool0"/>
-    
+
     <!--Cylinder and piston -->
     <link name="${prefix}link_cylinder">
       <collision name="collision">
         <geometry>
-          <mesh filename="package://abb_irb6640_support/meshes/irb6640_185_280/collision/cylinder.stl"/>
+          <mesh filename="package://abb_irb6640_support/meshes/irb6640_185_280/collision/cylinder_link.stl"/>
         </geometry>
         <material name="yellow"/>
       </collision>
       <visual name="visual">
         <geometry>
-          <mesh filename="package://abb_irb6640_support/meshes/irb6640_185_280/visual/cylinder.stl"/>
+          <mesh filename="package://abb_irb6640_support/meshes/irb6640_185_280/visual/cylinder_link.dae"/>
         </geometry>
-        <material name="orange"/>
       </visual>
     </link>
     <link name="${prefix}link_piston">
       <collision name="collision">
         <geometry>
-          <mesh filename="package://abb_irb6640_support/meshes/irb6640_185_280/collision/piston.stl"/>
+          <mesh filename="package://abb_irb6640_support/meshes/irb6640_185_280/collision/piston_link.stl"/>
         </geometry>
         <material name="yellow"/>
       </collision>
       <visual name="visual">
         <geometry>
-          <mesh filename="package://abb_irb6640_support/meshes/irb6640_185_280/visual/piston.stl"/>
+          <mesh filename="package://abb_irb6640_support/meshes/irb6640_185_280/visual/piston_link.dae"/>
         </geometry>
-        <material name="orange"/>
       </visual>
     </link>
     <!-- end of link list -->
-    
+
     <!-- joint list -->
     <joint type="revolute" name="${prefix}joint_1">
-      <origin xyz="0 0 0.227" rpy="0 0 0"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <axis xyz="0 0 1"/>
       <parent link="${prefix}base_link"/>
       <child link="${prefix}link_1"/>
       <limit effort="0" lower="-2.967" upper="2.967" velocity="1.7453"/>
     </joint>
     <joint type="revolute" name="${prefix}joint_2">
-      <origin xyz="0.322 0.03 0.551" rpy="0 0 0"/>
+      <origin xyz="0.320 0 0.780" rpy="0 0 0"/>
       <axis xyz="0 1 0"/>
       <parent link="${prefix}link_1"/>
       <child link="${prefix}link_2"/>
       <limit effort="0" lower="-1.134" upper="1.4855" velocity="1.5707"/>
     </joint>
     <joint type="revolute" name="${prefix}joint_3">
-      <origin xyz="0 -0.2 1.07" rpy="0 0 0"/>
+      <origin xyz="0 0 1.075" rpy="0 0 0"/>
       <axis xyz="0 1 0"/>
       <parent link="${prefix}link_2"/>
       <child link="${prefix}link_3"/>
       <limit effort="0" lower="-3.142" upper="1.222" velocity="1.5707"/>
     </joint>
     <joint type="revolute" name="${prefix}joint_4">
-      <origin xyz="-0.275 0.181 0.2" rpy="0 0 0"/>
+      <origin xyz="0 0 0.2" rpy="0 0 0"/>
       <axis xyz="1 0 0"/>
       <parent link="${prefix}link_3"/>
       <child link="${prefix}link_4"/>
       <limit effort="0" lower="-5.236" upper="5.236" velocity="2.9671"/>
     </joint>
     <joint type="revolute" name="${prefix}joint_5">
-      <origin xyz="1.67 0 0 " rpy="0 0 0"/>
+      <origin xyz="1.392 0 0 " rpy="0 0 0"/>
       <axis xyz="0 1 0"/>
       <parent link="${prefix}link_4"/>
       <child link="${prefix}link_5"/>
       <limit effort="0" lower="-2.094" upper="2.094" velocity="2.4435"/>
     </joint>
     <joint type="revolute" name="${prefix}joint_6">
-      <origin xyz="0.153 0 0 " rpy="0 0 0"/>
+      <origin xyz="0.2 0 0 " rpy="0 0 0"/>
       <axis xyz="1 0 0"/>
       <parent link="${prefix}link_5"/>
       <child link="${prefix}link_6"/>
@@ -183,24 +171,24 @@
     <joint type="fixed" name="${prefix}joint_6-tool0">
       <parent link="${prefix}link_6"/>
       <child link="${prefix}tool0"/>
-      <origin xyz=".055 0 0" rpy="0 1.57079632679 0"/>
+      <origin xyz="0 0 0" rpy="0 1.57079632679 0"/>
     </joint>
-    <joint type="fixed" name="${prefix}joint_cylinder">
-      <origin xyz="-0.365 -0.1895 0.405" rpy="0 -0.170 0"/>
+    <joint type="continuous" name="${prefix}joint_cylinder">
+      <origin xyz="-0.3647 0 0.6345" rpy="0 0 0"/>
       <axis xyz="0 1 0"/>
       <parent link="${prefix}link_1"/>
       <child link="${prefix}link_cylinder"/>
-      <limit effort="0" lower="-2.96705973" upper="2.96705973" velocity="0"/>
+      <mimic joint="${prefix}joint_2" multiplier="-0.25"/>
     </joint>
-    <joint type="fixed" name="${prefix}joint_piston">
-      <origin xyz="0.475 0 0" rpy="0 0 0"/>
-      <axis xyz="1 0 0"/>
-      <parent link="${prefix}link_cylinder"/>
+    <joint type="continuous" name="${prefix}joint_piston">
+      <origin xyz="-0.22 0 -0.0672" rpy="0 0 0"/>
+      <axis xyz="0 1 0"/>
+      <parent link="${prefix}link_2"/>
       <child link="${prefix}link_piston"/>
-      <limit effort="0" lower="0" upper="0.6" velocity="0"/>
+      <mimic joint="${prefix}joint_2" multiplier="-1.25"/>
     </joint>
     <!-- end of joint list -->
-    
+
     <!-- ROS base_link to ABB World Coordinates transform -->
     <link name="${prefix}base" />
     <joint name="${prefix}base_link-base" type="fixed">