Modifications to meet ABB ROS package standards

ros-industrial · Dec 5, 2018 · 73f7eae · 73f7eae
1 parent 4311c28
commit 73f7eae
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Showing 6 changed files with 20 additions and 21 deletions.
diff --git a/abb_irb6700_support/meshes/irb6700/collision/link_1.stl b/abb_irb6700_support/meshes/irb6700/collision/link_1.stl
diff --git a/abb_irb6700_support/meshes/irb6700/collision/link_6.stl b/abb_irb6700_support/meshes/irb6700/collision/link_6.stl
diff --git a/abb_irb6700_support/meshes/irb6700/visual/link_1.stl b/abb_irb6700_support/meshes/irb6700/visual/link_1.stl
diff --git a/abb_irb6700_support/meshes/irb6700/visual/link_6.stl b/abb_irb6700_support/meshes/irb6700/visual/link_6.stl
diff --git a/abb_irb6700_support/package.xml b/abb_irb6700_support/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<package>
+<package format="2">
   <name>abb_irb6700_support</name>
   <version>0.1.0</version>
   <description>
@@ -8,12 +8,11 @@
     </p>
     <p>
       This package contains configuration data, 3D models and launch files
-      for ABB IRB 52 manipulators. This currently includes the 7/1.2 and
-      7/1.45 variants.
+      for ABB IRB 6700 manipulators. This currently includes the variant 235/2.65.
     </p>
     <p>
       Joint limits and max joint velocities are based on the information in the
-      <a href="https://search-ext.abb.com/library/Download.aspx?DocumentID=3HAC044265-001&amp;LanguageCode=en&amp;DocumentPartId=&amp;Action=Launch">
+      <a href="https://library.e.abb.com/public/f69fdf358ddc4264b2d86c02b019ec0e/3HAC044265%20PS%20IRB%206700-en.pdf">
       ABB IRB 6700 product specification document</a> 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
@@ -36,12 +35,12 @@
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>roslaunch</build_depend>
 
-  <run_depend>abb_driver</run_depend>
-  <run_depend>abb_resources</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>
+  <exec_depend>abb_driver</exec_depend>
+  <exec_depend>abb_resources</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz</exec_depend>
+  <exec_depend>xacro</exec_depend>
 
   <export>
     <architecture_independent/>

diff --git a/abb_irb6700_support/urdf/irb6700_235_265_macro.xacro b/abb_irb6700_support/urdf/irb6700_235_265_macro.xacro
@@ -150,14 +150,14 @@
     <link name="${prefix}tool0"/>
 
     <joint name="${prefix}joint_1" type="revolute">
-      <origin xyz="0 0 0.288" rpy="0 0 0" />
+      <origin xyz="0 0 0.78" rpy="0 0 0" />
       <parent link="${prefix}base_link" />
       <child link="${prefix}link_1" />
       <axis xyz="0 0 1" />
       <limit lower="-${radians(170)}" upper="${radians(170)}" effort="0" velocity="${radians(100)}" />
     </joint>
     <joint name="${prefix}joint_2" type="revolute">
-      <origin xyz="0.32 0 0.492" rpy="0 0 0" />
+      <origin xyz="0.32 0 0" rpy="0 0 0" />
       <parent link="${prefix}link_1" />
       <child link="${prefix}link_2" />
       <axis xyz="0 1 0" />
@@ -185,39 +185,39 @@
       <limit lower="-${radians(130)}" upper="${radians(130)}" effort="0" velocity="${radians(120)}" />
     </joint>
     <joint name="${prefix}joint_6" type="revolute">
-      <origin xyz="0.165 0 0" rpy="0 0 0" />
+      <origin xyz="0.2 0 0" rpy="0 0 0" />
       <parent link="${prefix}link_5" />
       <child link="${prefix}link_6" />
       <axis xyz="1 0 0" />
       <limit lower="-${radians(360)}" upper="${radians(360)}" effort="0" velocity="${radians(190)}" />
     </joint>
-    <joint name="${prefix}tool_joint" type="fixed">
-      <origin xyz="0.035 0 0" rpy="0 ${radians(90)} 0" />
+    <joint name="${prefix}joint_6_tool0" type="fixed">
+      <origin xyz="0 0 0" rpy="0 ${radians(90)} 0" />
       <parent link="${prefix}link_6" />
       <child link="${prefix}tool0" />
       <axis xyz="0 0 0" />
     </joint>
     <joint name="${prefix}cylinder_joint" type="revolute">
-      <origin xyz="-0.349 -0.194 0.35" rpy="0 0 0" />
+      <origin xyz="-0.349 -0.194 -0.142" rpy="0 0 0" />
       <parent link="${prefix}link_1" />
       <child link="${prefix}cylinder" />
       <axis xyz="0 1 0" />
       <mimic joint="${prefix}joint_2" multiplier="-0.25"/>
-      <limit lower="-3" upper="3" effort="0" velocity="100" />
+      <limit lower="-${radians(65*0.25)}" upper="${radians(85*0.25)}" effort="0" velocity="100" />
     </joint>
     <joint name="${prefix}piston_joint" type="prismatic">
       <origin xyz="0 0 0" rpy="0.20897 0 -${radians(90)}" />
       <parent link="${prefix}cylinder" />
       <child link="${prefix}piston" />
       <axis xyz="0 1 0" />
       <mimic joint="${prefix}joint_2" multiplier="0.15"/>
-      <limit lower="-3" upper="3" effort="0" velocity="100" />
-    </joint>-->
+      <limit lower="-0.25" upper="0.25" effort="0" velocity="100" />
+    </joint>
 
     <!-- ROS base_link to ABB World Coordinates transform -->
-    <link name="${prefix}base" />
+    <link name="${prefix}base"/>
     <joint name="${prefix}base_link_base" type="fixed">
-      <origin xyz="0 0 0.780" rpy="0 0 0"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
       <parent link="${prefix}base_link"/>
       <child link="${prefix}base"/>
     </joint>