Fix model to match product specification

abb_irb6640_support/CMakeLists.txt

@@ -8,7 +8,12 @@ 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
+      #not nice, but industrial_robot_client doesn't prefix its targets
+      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

@@ -7,13 +7,14 @@
     </p>
     <p>
       This package contains configuration data, 3D models and launch files
-      for ABB IRB 6640 manipulators. This currently includes the base model.
+      for ABB IRB 6640 manipulators. This currently includes the
+      IRB 6640-185/2.8m (6640-185) only.
     </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
+      <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
       motion ranges or other options).
     </p>
@@ -27,16 +28,21 @@
   <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>
+
+  <export>
+    <architecture_independent/>
+  </export>
 </package>

abb_irb6640_support/urdf/irb6640_185_280.urdf

@@ -16,11 +16,8 @@
     </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="link_1">
@@ -32,9 +29,8 @@
     </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="link_2">
@@ -46,9 +42,8 @@
     </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="link_3">
@@ -60,23 +55,20 @@
     </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="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="link_5">
@@ -88,9 +80,8 @@
     </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="link_6">
@@ -102,80 +93,77 @@
     </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="tool0"/>
   <!--Cylinder and piston -->
   <link name="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="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 name="joint_1" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 0.227"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
     <axis xyz="0 0 1"/>
     <parent link="base_link"/>
     <child link="link_1"/>
     <limit effort="0" lower="-2.967" upper="2.967" velocity="1.7453"/>
   </joint>
   <joint name="joint_2" type="revolute">
-    <origin rpy="0 0 0" xyz="0.322 0.03 0.551"/>
+    <origin rpy="0 0 0" xyz="0.320 0 0.780"/>
     <axis xyz="0 1 0"/>
     <parent link="link_1"/>
     <child link="link_2"/>
     <limit effort="0" lower="-1.134" upper="1.4855" velocity="1.5707"/>
   </joint>
   <joint name="joint_3" type="revolute">
-    <origin rpy="0 0 0" xyz="0 -0.2 1.07"/>
+    <origin rpy="0 0 0" xyz="0 0 1.075"/>
     <axis xyz="0 1 0"/>
     <parent link="link_2"/>
     <child link="link_3"/>
     <limit effort="0" lower="-3.142" upper="1.222" velocity="1.5707"/>
   </joint>
   <joint name="joint_4" type="revolute">
-    <origin rpy="0 0 0" xyz="-0.275 0.181 0.2"/>
+    <origin rpy="0 0 0" xyz="0 0 0.2"/>
     <axis xyz="1 0 0"/>
     <parent link="link_3"/>
     <child link="link_4"/>
     <limit effort="0" lower="-5.236" upper="5.236" velocity="2.9671"/>
   </joint>
   <joint name="joint_5" type="revolute">
-    <origin rpy="0 0 0" xyz="1.67 0 0 "/>
+    <origin rpy="0 0 0" xyz="1.392 0 0 "/>
     <axis xyz="0 1 0"/>
     <parent link="link_4"/>
     <child link="link_5"/>
     <limit effort="0" lower="-2.094" upper="2.094" velocity="2.4435"/>
   </joint>
   <joint name="joint_6" type="revolute">
-    <origin rpy="0 0 0" xyz="0.153 0 0 "/>
+    <origin rpy="0 0 0" xyz="0.2 0 0 "/>
     <axis xyz="1 0 0"/>
     <parent link="link_5"/>
     <child link="link_6"/>
@@ -184,21 +172,21 @@
   <joint name="joint_6-tool0" type="fixed">
     <parent link="link_6"/>
     <child link="tool0"/>
-    <origin rpy="0 1.57079632679 0" xyz=".055 0 0"/>
+    <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
   </joint>
-  <joint name="joint_cylinder" type="fixed">
-    <origin rpy="0 -0.170 0" xyz="-0.365 -0.1895 0.405"/>
+  <joint name="joint_cylinder" type="continuous">
+    <origin rpy="0 0 0" xyz="-0.3647 0 0.6345"/>
     <axis xyz="0 1 0"/>
     <parent link="link_1"/>
     <child link="link_cylinder"/>
-    <limit effort="0" lower="-2.96705973" upper="2.96705973" velocity="0"/>
+    <mimic joint="joint_2" multiplier="-0.25"/>
   </joint>
-  <joint name="joint_piston" type="fixed">
-    <origin rpy="0 0 0" xyz="0.475 0 0"/>
-    <axis xyz="1 0 0"/>
-    <parent link="link_cylinder"/>
+  <joint name="joint_piston" type="continuous">
+    <origin rpy="0 0 0" xyz="-0.22 0 -0.0672"/>
+    <axis xyz="0 1 0"/>
+    <parent link="link_2"/>
     <child link="link_piston"/>
-    <limit effort="0" lower="0" upper="0.6" velocity="0"/>
+    <mimic joint="joint_2" multiplier="-1.25"/>
   </joint>
   <!-- end of joint list -->
   <!-- ROS base_link to ABB World Coordinates transform -->

abb_irb6640_support/urdf/irb6640_185_280.xacro

@@ -1,10 +1,6 @@
 <?xml version="1.0" ?>
-
 <robot name="abb_irb6640_185_280" xmlns:xacro="http://ros.org/wiki/xacro">
-
   <xacro:include filename="$(find abb_irb6640_support)/urdf/irb6640_185_280_macro.xacro"/>
-
   <xacro:abb_irb6640_185_280 prefix=""/>
-
 </robot>