Add experimental support for KR150-2 (#99)

Commits squashed:

* Added support for KR150-2
* kr150: package manifest fixes.
* Replaced invalid link to datasheet with reference to KUKA website.
* moved joint_a6-tool0 translation to joint_a5-joint_a6
* Note document nr of datasheet used.
* Decimate meshes a bit more.

kuka_kr150_support/CMakeLists.txt

@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(kuka_kr150_support)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+if (CATKIN_ENABLE_TESTING)
+  find_package(roslaunch REQUIRED)
+  roslaunch_add_file_check(test/roslaunch_test.xml)
+endif()
+
+install(DIRECTORY config launch meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

kuka_kr150_support/config/joint_names_kr150.yaml

@@ -0,0 +1 @@
+controller_joint_names: ['joint_a1', 'joint_a2', 'joint_a3', 'joint_a4', 'joint_a5', 'joint_a6']

kuka_kr150_support/launch/load_kr150_2.launch

@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- Load robot description to parameter server -->
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find kuka_kr150_support)/urdf/kr150_2.xacro'"/>
+</launch>

kuka_kr150_support/launch/test_kr150_2.launch

@@ -0,0 +1,9 @@
+<?xml version="1.0"?>
+<launch>
+  <include file="$(find kuka_kr150_support)/launch/load_kr150_2.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>

kuka_kr150_support/package.xml

@@ -0,0 +1,52 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>kuka_kr150_support</name>
+  <version>0.1.0</version>
+  <description>
+    <p>
+      ROS-Industrial support for the KUKA KR 150 (and variants).
+    </p>
+    <p>
+      This package contains configuration data, 3D models and launch files
+      for KUKA KR 150 manipulators. This currently includes the -2 variant
+      only.
+    </p>
+    <p><b>Specifications</b>:</p>
+    <ul>
+      <li>KR 150-2 - Default</li>
+    </ul>
+    <p>
+      Joint limits and maximum joint velocities are based on the information
+      found in <em>Series 2000 KR 150-2</em>, version <em>PF0020/E/1/0709</em>.
+      All urdfs are based on the default motion and joint velocity limits,
+      unless noted otherwise.
+    </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>Dennis Hartmann</author>
+  <maintainer email="dennis.hartmann@kit.edu">Dennis Hartmann (KIT, IAR-IPR)</maintainer>
+  <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
+  <license>BSD</license>
+
+  <url type="website">http://wiki.ros.org/kuka_kr150_support</url>
+  <url type="bugtracker">https://github.com/ros-industrial/kuka_experimental/issues</url>
+  <url type="repository">https://github.com/ros-industrial/kuka_experimental</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <test_depend>roslaunch</test_depend>
+
+  <exec_depend>industrial_robot_client</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>

kuka_kr150_support/test/roslaunch_test.xml

@@ -0,0 +1,9 @@
+<launch>
+  <group ns="load_kr150_2__">
+    <include file="$(find kuka_kr150_support)/launch/load_kr150_2.launch"/>
+  </group>
+
+  <group ns="test_kr150_2__">
+    <include file="$(find kuka_kr150_support)/launch/test_kr150_2.launch"/>
+  </group>
+</launch>

kuka_kr150_support/urdf/kr150_2.xacro

@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<robot name="kuka_kr150_2" xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:include filename="$(find kuka_kr150_support)/urdf/kr150_2_macro.xacro" />
+  <xacro:kuka_kr150_2 prefix=""/>
+</robot>

kuka_kr150_support/urdf/kr150_2_macro.xacro

@@ -0,0 +1,182 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+
+  <xacro:macro name="kuka_kr150_2" params="prefix">
+    <!-- LINKS -->
+    <!-- base link -->
+    <link name="${prefix}base_link">
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr150_support/meshes/kr150_2/visual/base_link.dae" />
+        </geometry>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr150_support/meshes/kr150_2/collision/base_link.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <!-- link 1 (A1) -->
+    <link name="${prefix}link_1">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr150_support/meshes/kr150_2/visual/link_1.dae" />
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr150_support/meshes/kr150_2/collision/link_1.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <!-- link 2 -->
+    <link name="${prefix}link_2">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr150_support/meshes/kr150_2/visual/link_2.dae"/>
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr150_support/meshes/kr150_2/collision/link_2.stl"  />
+        </geometry>
+      </collision>
+    </link>
+    <!-- link 3 -->
+    <link name="${prefix}link_3">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr150_support/meshes/kr150_2/visual/link_3.dae" />
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr150_support/meshes/kr150_2/collision/link_3.stl"  />
+        </geometry>
+      </collision>
+    </link>
+    <!-- link 4 -->
+    <link name="${prefix}link_4">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr150_support/meshes/kr150_2/visual/link_4.dae" />
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr150_support/meshes/kr150_2/collision/link_4.stl"  />
+        </geometry>
+      </collision>
+    </link>
+    <!-- link 5 -->
+    <link name="${prefix}link_5">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr150_support/meshes/kr150_2/visual/link_5.dae" />
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr150_support/meshes/kr150_2/collision/link_5.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <!-- link 6 -->
+    <link name="${prefix}link_6">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr150_support/meshes/kr150_2/visual/link_6.dae" />
+        </geometry>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr150_support/meshes/kr150_2/collision/link_6.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <!-- tool link -->
+    <!-- This frame corresponds to the $FLANGE coordinate system in KUKA KRC controllers. -->
+    <link name="${prefix}tool0"/>
+    <!-- END LINKS -->
+
+    <!-- JOINTS -->
+    <!-- joint 1 (A1) -->
+    <joint name="${prefix}joint_a1" type="revolute">
+      <origin xyz="0 0 0.75" rpy="0 0 0"/>
+      <parent link="${prefix}base_link"/>
+      <child link="${prefix}link_1"/>
+      <axis xyz="0 0 -1"/>
+      <limit effort="0" lower="${radians(-185)}" upper="${radians(185)}" velocity="${radians(110)}"/>
+    </joint>
+    <!-- joint 2 (A2) -->
+    <joint name="${prefix}joint_a2" type="revolute">
+      <origin xyz="0.35 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_1"/>
+      <child link="${prefix}link_2"/>
+      <axis xyz="0 1 0"/>
+      <limit effort="0" lower="${radians(-146)}" upper="${radians(0)}" velocity="${radians(110)}"/>
+    </joint>
+    <!-- joint 3 (A3) -->
+    <joint name="${prefix}joint_a3" type="revolute">
+      <origin xyz="1.25 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_2"/>
+      <child link="${prefix}link_3"/>
+      <axis xyz="0 1 0"/>
+      <limit effort="0" lower="${radians(-119)}" upper="${radians(155)}" velocity="${radians(100)}"/>
+    </joint>
+    <!-- joint 4 (A4) -->
+    <joint name="${prefix}joint_a4" type="revolute">
+      <origin xyz="0 0 -0.055" rpy="0 0 0"/>
+      <parent link="${prefix}link_3"/>
+      <child link="${prefix}link_4"/>
+      <axis xyz="-1 0 0"/>
+      <limit effort="0" lower="${radians(-350)}" upper="${radians(350)}" velocity="${radians(170)}"/>
+    </joint>
+    <!-- joint 5 (A5) -->
+    <joint name="${prefix}joint_a5" type="revolute">
+      <origin xyz="1.1 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_4"/>
+      <child link="${prefix}link_5"/>
+      <axis xyz="0 1 0"/>
+      <limit effort="0" lower="${radians(-125)}" upper="${radians(125)}" velocity="${radians(170)}"/>
+    </joint>
+    <!-- joint 6 (A6) -->
+    <joint name="${prefix}joint_a6" type="revolute">
+      <origin xyz="0.23 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_5"/>
+      <child link="${prefix}link_6"/>
+      <axis xyz="-1 0 0"/>
+      <limit effort="0" lower="${radians(-350)}" upper="${radians(350)}" velocity="${radians(238)}"/>
+    </joint>
+    <!-- tool frame - fixed frame -->
+    <joint name="${prefix}joint_a6-tool0" type="fixed">
+      <parent link="${prefix}link_6"/>
+      <child link="${prefix}tool0"/>
+      <origin xyz="0 0 0" rpy="0 ${pi/2} 0"/>
+    </joint>
+    <!-- END JOINTS -->
+
+    <!-- ROS 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>
+
+  </xacro:macro>
+</robot>