Add ROS-I frames

ros-industrial · Nov 19, 2021 · 5cb5853 · 5cb5853
1 parent 8aa5818
commit 5cb5853
Showing 1 changed file with 22 additions and 11 deletions.
diff --git a/kuka_kr4_support/urdf/kr4r600_macro.xacro b/kuka_kr4_support/urdf/kr4r600_macro.xacro
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
-  <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
-
+
   <xacro:macro name="kuka_kr4r600" params="prefix">
+    <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
     <link name="${prefix}base_link">
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
@@ -108,8 +108,6 @@
         </geometry>
       </collision>
     </link>
-    <!-- This frame corresponds to the $FLANGE coordinate system in KUKA KRC controllers. -->
-    <link name="${prefix}tool0" />
 
     <joint name="${prefix}joint_a1" type="revolute">
       <origin xyz="0 0 0.33" rpy="0 0 0"/>
@@ -153,18 +151,31 @@
       <axis xyz="-1 0 0"/>
       <limit lower="${radians(-350)}" upper="${radians(350)}" effort="0" velocity="${radians(800)}"/>
     </joint>
-    <joint name="${prefix}joint_a6-tool0" type="fixed">
-      <parent link="${prefix}link_6"/>
-      <child link="${prefix}tool0"/>
-      <origin xyz="0 0 0" rpy="0 ${radians(90)} 0"/>
-    </joint>
-
-    <!-- ROS base_link to KUKA $ROBROOT coordinate system transform -->
+
+    <!-- ROS-Industrial 'base' frame: base_link to KUKA $ROBROOT coordinate system transform -->
     <link name="${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="${prefix}base"/>
     </joint>
+
+    <!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
+    <link name="${prefix}flange" />
+    <joint name="${prefix}joint_6-flange" type="fixed">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <parent link="${prefix}link_6" />
+      <child link="${prefix}flange" />
+    </joint>
+
+    <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
+    <!-- This frame corresponds to the $FLANGE coordinate system in KUKA KRC controllers. -->
+    <link name="${prefix}tool0"/>
+    <joint name="${prefix}flange-tool0" type="fixed">
+      <parent link="${prefix}flange"/>
+      <child link="${prefix}tool0"/>
+      <origin xyz="0 0 0" rpy="0 ${radians(90)} 0"/>
+    </joint>
+
   </xacro:macro>
 </robot>