ABB IRB6700 support package

abb_irb6700_support/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+
+project(abb_irb6700_support)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+if (CATKIN_ENABLE_TESTING)
+  find_package(roslaunch REQUIRED)
+  roslaunch_add_file_check(test/roslaunch_test_irb6700_235_265.xml)
+endif()
+
+install(DIRECTORY config launch meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

abb_irb6700_support/config/joint_names_irb6700_235_265.yaml

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+controller_joint_names: ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']

abb_irb6700_support/launch/load_irb6700_235_265.launch

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+<?xml version="1.0" ?>
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find abb_irb6700_support)/urdf/irb6700_235_265.xacro'" />
+</launch>

abb_irb6700_support/launch/robot_interface_download_irb6700_235_265.launch

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+<?xml version="1.0" ?>
+<!--
+  Manipulator specific version of abb driver's 'robot_interface.launch'.
+
+  Defaults provided for IRB 52-7/1.20:
+   - J23_coupled = true
+
+  Usage:
+    robot_interface_download_irb6700_7_120.launch robot_ip:=<value>
+-->
+<launch>
+  <arg name="robot_ip" doc="IP of the controller" />
+  <arg name="J23_coupled" default="true" doc="If true, compensate for J2-J3 parallel linkage" />
+
+  <rosparam command="load" file="$(find abb_irb6700_support)/config/joint_names_irb6700_235_265.yaml" />
+
+  <include file="$(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_irb6700_support/launch/robot_state_visualize_irb6700_235_265.launch

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+<?xml version="1.0" ?>
+<!--
+  Manipulator specific version of the state visualizer.
+
+  Defaults provided for IRB 52-7/1.20:
+   - J23_coupled = true
+
+  Usage:
+    robot_state_visualize_irb6700_235_265.launch robot_ip:=<value>
+-->
+<launch>
+  <arg name="robot_ip" doc="IP of the controller" />
+  <arg name="J23_coupled" default="true" doc="If true, compensate for J2-J3 parallel linkage" />
+
+  <rosparam command="load" file="$(find abb_irb6700_support)/config/joint_names_irb6700_235_265.yaml" />
+
+  <include file="$(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_irb6700_support)/launch/load_irb6700_235_265.launch" />
+
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>

abb_irb6700_support/launch/test_irb6700_235_265.launch

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+<?xml version="1.0" ?>
+<launch>
+  <include file="$(find abb_irb6700_support)/launch/load_irb6700_235_265.launch" />
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
+    <param name="use_gui" value="true" />
+  </node>
+  <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_irb6700_support/package.xml

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+<?xml version="1.0" ?>
+<package format="2">
+  <name>abb_irb6700_support</name>
+  <version>0.1.0</version>
+  <description>
+    <p>
+      ROS-Industrial support for the ABB IRB 6700 (and variants).
+    </p>
+    <p>
+      This package contains configuration data, 3D models and launch files
+      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://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
+      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="michael.ripperger@swri.org">Michael Ripperger</author>
+  <maintainer email="levi.armstrong@swri.org">Levi Armstrong (Southwest Research Institute)</maintainer>
+  <license>Apache 2.0</license>
+
+  <url type="website">http://wiki.ros.org/abb_irb6700_support</url>
+  <url type="bugtracker">https://github.com/ros-industrial/abb_experimental/issues</url>
+  <url type="repository">https://github.com/ros-industrial/abb_experimental</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <test_depend>roslaunch</test_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/>
+  </export>
+</package>

abb_irb6700_support/test/roslaunch_test_irb6700_235_265.xml

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+<?xml version="1.0" ?>
+<launch>
+  <arg name="ip_str" value="127.0.0.1" />
+
+  <group ns="load_irb6700__">
+    <include file="$(find abb_irb6700_support)/launch/load_irb6700_235_265.launch"/>
+  </group>
+
+  <group ns="test_irb6700__">
+    <include file="$(find abb_irb6700_support)/launch/test_irb6700_235_265.launch"/>
+  </group>
+
+  <group ns="robot_interface_download_irb6700__">
+    <include file="$(find abb_irb6700_support)/launch/robot_interface_download_irb6700_235_265.launch">
+      <arg name="robot_ip" value="$(arg ip_str)" />
+    </include>
+  </group>
+
+  <group ns="robot_state_visualize_irb6700__">
+    <include file="$(find abb_irb6700_support)/launch/robot_state_visualize_irb6700_235_265.launch">
+      <arg name="robot_ip" value="$(arg ip_str)" />
+    </include>
+  </group>
+</launch>

abb_irb6700_support/urdf/irb6700_235_265.xacro

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+<?xml version="1.0" ?>
+<robot name="abb_irb6700_235_265" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:include filename="$(find abb_irb6700_support)/urdf/irb6700_235_265_macro.xacro"/>
+  <xacro:abb_irb6700_235_265 prefix=""/>
+</robot>

abb_irb6700_support/urdf/irb6700_235_265_macro.xacro

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+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:macro name="abb_irb6700_235_265" params="prefix">
+    <xacro:include filename="$(find abb_resources)/urdf/common_materials.xacro"/>
+    <!-- link list -->
+    <link name="${prefix}base_link">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://abb_irb6700_support/meshes/irb6700/visual/base_link.stl" />
+        </geometry>
+        <xacro:material_abb_white/>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://abb_irb6700_support/meshes/irb6700/collision/base_link.stl" />
+        </geometry>
+        <xacro:material_abb_yellow/>
+      </collision>
+    </link>
+    <link name="${prefix}link_1">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://abb_irb6700_support/meshes/irb6700/visual/link_1.stl" />
+        </geometry>
+        <xacro:material_abb_white/>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://abb_irb6700_support/meshes/irb6700/collision/link_1.stl" />
+        </geometry>
+        <xacro:material_abb_yellow/>
+      </collision>
+    </link>
+    <link name="${prefix}cylinder">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://abb_irb6700_support/meshes/irb6700/visual/cylinder.stl" />
+        </geometry>
+        <xacro:material_abb_white/>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://abb_irb6700_support/meshes/irb6700/collision/cylinder.stl" />
+        </geometry>
+        <xacro:material_abb_yellow/>
+      </collision>
+    </link>
+    <link name="${prefix}piston">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://abb_irb6700_support/meshes/irb6700/visual/piston.stl" />
+        </geometry>
+        <xacro:material_abb_white/>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://abb_irb6700_support/meshes/irb6700/collision/piston.stl" />
+        </geometry>
+        <xacro:material_abb_yellow/>
+      </collision>
+    </link>
+    <link name="${prefix}link_2">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://abb_irb6700_support/meshes/irb6700_235_265/visual/link_2.stl" />
+        </geometry>
+        <xacro:material_abb_white/>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://abb_irb6700_support/meshes/irb6700_235_265/collision/link_2.stl" />
+        </geometry>
+        <xacro:material_abb_yellow/>
+      </collision>
+    </link>
+    <link name="${prefix}link_3">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://abb_irb6700_support/meshes/irb6700_235_265/visual/link_3.stl" />
+        </geometry>
+        <xacro:material_abb_white/>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://abb_irb6700_support/meshes/irb6700_235_265/collision/link_3.stl" />
+        </geometry>
+        <xacro:material_abb_yellow/>
+      </collision>
+    </link>
+    <link name="${prefix}link_4">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://abb_irb6700_support/meshes/irb6700_235_265/visual/link_4.stl" />
+        </geometry>
+        <xacro:material_abb_white/>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://abb_irb6700_support/meshes/irb6700_235_265/collision/link_4.stl" />
+        </geometry>
+        <xacro:material_abb_yellow/>
+      </collision>
+    </link>
+    <link name="${prefix}link_5">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://abb_irb6700_support/meshes/irb6700/visual/link_5.stl" />
+        </geometry>
+        <xacro:material_abb_white/>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://abb_irb6700_support/meshes/irb6700/collision/link_5.stl" />
+        </geometry>
+        <xacro:material_abb_yellow/>
+      </collision>
+    </link>
+    <link name="${prefix}link_6">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://abb_irb6700_support/meshes/irb6700/visual/link_6.stl" />
+        </geometry>
+        <xacro:material_abb_white/>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://abb_irb6700_support/meshes/irb6700/collision/link_6.stl" />
+        </geometry>
+        <xacro:material_abb_yellow/>
+      </collision>
+    </link>
+    <link name="${prefix}tool0"/>
+
+    <joint name="${prefix}joint_1" type="revolute">
+      <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" rpy="0 0 0" />
+      <parent link="${prefix}link_1" />
+      <child link="${prefix}link_2" />
+      <axis xyz="0 1 0" />
+      <limit lower="-${radians(65)}" upper="${radians(85)}" effort="0" velocity="${radians(90)}" />
+    </joint>
+    <joint name="${prefix}joint_3" type="revolute">
+      <origin xyz="0 0 1.135" rpy="0 0 0" />
+      <parent link="${prefix}link_2" />
+      <child link="${prefix}link_3" />
+      <axis xyz="0 1 0" />
+      <limit lower="-${radians(180)}" upper="${radians(70)}" effort="0" velocity="${radians(90)}" />
+    </joint>
+    <joint name="${prefix}joint_4" type="revolute">
+      <origin xyz="0 0 0.2" rpy="0 0 0" />
+      <parent link="${prefix}link_3" />
+      <child link="${prefix}link_4" />
+      <axis xyz="1 0 0" />
+      <limit lower="-${radians(300)}" upper="${radians(300)}" effort="0" velocity="${radians(170)}" />
+    </joint>
+    <joint name="${prefix}joint_5" type="revolute">
+      <origin xyz="1.1825 0 0" rpy="0 0 0" />
+      <parent link="${prefix}link_4" />
+      <child link="${prefix}link_5" />
+      <axis xyz="0 1 0" />
+      <limit lower="-${radians(130)}" upper="${radians(130)}" effort="0" velocity="${radians(120)}" />
+    </joint>
+    <joint name="${prefix}joint_6" type="revolute">
+      <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}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 -0.142" rpy="0 0 0" />
+      <parent link="${prefix}link_1" />
+      <child link="${prefix}cylinder" />
+      <axis xyz="0 1 0" />
+      <mimic joint="${prefix}joint_2" multiplier="-0.25"/>
+      <limit lower="-${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="-0.25" upper="0.25" effort="0" velocity="100" />
+    </joint>
+
+    <!-- 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>