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Adding KR 3 R540 support package (#108)
* Adding KR 3 R540 support package Support for Kuka KR3 R540 Agilus robot. Links 2 and 4 collision meshes generated using gaschler/bounding-mesh to address "holes" (standard convex hull results in link 2/4 and link 4/6 collision near joint limits. Run with the following: $ bounding-convex-decomposition --voxels 500000 link_2.obj link_2.wrl Note: STL bug still present and thus requires stl>obj>wrl>stl workflow kuka_resources: Adding RAL 9010 Pure White color/material * Use Jade+ xacro, even on Indigo. * Add preamble. * Be explicit about supported variants. * Remove empty line. * Use Jade+ radians() in place of constant * Switching to stl from dae for size considerations
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cmake_minimum_required(VERSION 2.8.3) | ||
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project(kuka_kr3_support) | ||
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find_package(catkin REQUIRED) | ||
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catkin_package() | ||
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if (CATKIN_ENABLE_TESTING) | ||
find_package(roslaunch REQUIRED) | ||
roslaunch_add_file_check(test/roslaunch_test_kr3r540.xml) | ||
endif() | ||
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install(DIRECTORY config launch meshes urdf | ||
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) |
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controller_joint_names: ['joint_a1', 'joint_a2', 'joint_a3', 'joint_a4', 'joint_a5', 'joint_a6'] |
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<?xml version="1.0"?> | ||
<launch> | ||
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find kuka_kr3_support)/urdf/kr3r540.xacro'"/> | ||
</launch> |
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<?xml version="1.0"?> | ||
<launch> | ||
<include file="$(find kuka_kr3_support)/launch/load_kr3r540.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> |
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<?xml version="1.0"?> | ||
<package format="2"> | ||
<name>kuka_kr3_support</name> | ||
<version>0.1.0</version> | ||
<description> | ||
<p> | ||
ROS-Industrial support for the KUKA KR 3 (and variants). | ||
</p> | ||
<p> | ||
This package contains configuration data, 3D models and launch files | ||
for the KUKA KR 3 manipulators. This currently includes the R540 only. | ||
</p> | ||
<p><b>Specifications</b>:</p> | ||
<ul> | ||
<li>KR 3 R540 - Default</li> | ||
</ul> | ||
<p> | ||
Joint limits and maximum joint velocities are based on the information | ||
in the <em>KUKA Roboter GmbH - KR 3 AGILUS Specification</em> version | ||
<em>Spez KR 3 AGILUS V3, 21.03.2017</em>. | ||
All urdfs 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>Brett Hemes (3M)</author> | ||
<maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer> | ||
<license>BSD</license> | ||
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<url type="website">http://wiki.ros.org/kuka_kr3_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> | ||
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<buildtool_depend>catkin</buildtool_depend> | ||
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<test_depend>roslaunch</test_depend> | ||
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<exec_depend>industrial_robot_client</exec_depend> | ||
<exec_depend>joint_state_publisher</exec_depend> | ||
<exec_depend>kuka_resources</exec_depend> | ||
<exec_depend>robot_state_publisher</exec_depend> | ||
<exec_depend>rviz</exec_depend> | ||
<exec_depend>xacro</exec_depend> | ||
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<export> | ||
<architecture_independent/> | ||
</export> | ||
</package> |
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<?xml version="1.0" ?> | ||
<launch> | ||
<group ns="load_kr3r540__"> | ||
<include file="$(find kuka_kr3_support)/launch/load_kr3r540.launch"/> | ||
</group> | ||
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<group ns="test_kr3r540__"> | ||
<include file="$(find kuka_kr3_support)/launch/test_kr3r540.launch"/> | ||
</group> | ||
</launch> |
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<?xml version="1.0" ?> | ||
<robot name="kuka_kr3r540" xmlns:xacro="http://wiki.ros.org/xacro"> | ||
<xacro:include filename="$(find kuka_kr3_support)/urdf/kr3r540_macro.xacro"/> | ||
<xacro:kuka_kr3r540 prefix=""/> | ||
</robot> |
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<?xml version="1.0"?> | ||
<robot xmlns:xacro="http://wiki.ros.org/xacro"> | ||
<xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/> | ||
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<xacro:macro name="kuka_kr3r540" params="prefix"> | ||
<link name="${prefix}base_link"> | ||
<visual> | ||
<origin xyz="0 0 0" rpy="0 0 0" /> | ||
<geometry> | ||
<mesh filename="package://kuka_kr3_support/meshes/kr3r540/visual/base_link.stl" /> | ||
</geometry> | ||
<xacro:material_kuka_pedestal /> | ||
</visual> | ||
<collision> | ||
<origin xyz="0 0 0" rpy="0 0 0" /> | ||
<geometry> | ||
<mesh filename="package://kuka_kr3_support/meshes/kr3r540/collision/base_link.stl" /> | ||
</geometry> | ||
</collision> | ||
</link> | ||
<link name="${prefix}link_1"> | ||
<visual> | ||
<origin xyz="0 0 0" rpy="0 0 0" /> | ||
<geometry> | ||
<mesh filename="package://kuka_kr3_support/meshes/kr3r540/visual/link_1.stl" /> | ||
</geometry> | ||
<xacro:material_kuka_ral_pure_white /> | ||
</visual> | ||
<collision> | ||
<origin xyz="0 0 0" rpy="0 0 0" /> | ||
<geometry> | ||
<mesh filename="package://kuka_kr3_support/meshes/kr3r540/collision/link_1.stl" /> | ||
</geometry> | ||
</collision> | ||
</link> | ||
<link name="${prefix}link_2"> | ||
<visual> | ||
<origin xyz="0 0 0" rpy="0 0 0" /> | ||
<geometry> | ||
<mesh filename="package://kuka_kr3_support/meshes/kr3r540/visual/link_2.stl" /> | ||
</geometry> | ||
<xacro:material_kuka_ral_pure_white /> | ||
</visual> | ||
<collision> | ||
<origin xyz="0 0 0" rpy="0 0 0" /> | ||
<geometry> | ||
<mesh filename="package://kuka_kr3_support/meshes/kr3r540/collision/link_2.stl" /> | ||
</geometry> | ||
</collision> | ||
</link> | ||
<link name="${prefix}link_3"> | ||
<visual> | ||
<origin xyz="0 0 0" rpy="0 0 0" /> | ||
<geometry> | ||
<mesh filename="package://kuka_kr3_support/meshes/kr3r540/visual/link_3.stl" /> | ||
</geometry> | ||
<xacro:material_kuka_ral_pure_white /> | ||
</visual> | ||
<collision> | ||
<origin xyz="0 0 0" rpy="0 0 0" /> | ||
<geometry> | ||
<mesh filename="package://kuka_kr3_support/meshes/kr3r540/collision/link_3.stl" /> | ||
</geometry> | ||
</collision> | ||
</link> | ||
<link name="${prefix}link_4"> | ||
<visual> | ||
<origin xyz="0 0 0" rpy="0 0 0" /> | ||
<geometry> | ||
<mesh filename="package://kuka_kr3_support/meshes/kr3r540/visual/link_4.stl" /> | ||
</geometry> | ||
<xacro:material_kuka_ral_pure_white /> | ||
</visual> | ||
<collision> | ||
<origin xyz="0 0 0" rpy="0 0 0" /> | ||
<geometry> | ||
<mesh filename="package://kuka_kr3_support/meshes/kr3r540/collision/link_4.stl" /> | ||
</geometry> | ||
</collision> | ||
</link> | ||
<link name="${prefix}link_5"> | ||
<visual> | ||
<origin xyz="0 0 0" rpy="0 0 0" /> | ||
<geometry> | ||
<mesh filename="package://kuka_kr3_support/meshes/kr3r540/visual/link_5.stl" /> | ||
</geometry> | ||
<xacro:material_kuka_ral_pure_white /> | ||
</visual> | ||
<collision> | ||
<origin xyz="0 0 0" rpy="0 0 0" /> | ||
<geometry> | ||
<mesh filename="package://kuka_kr3_support/meshes/kr3r540/collision/link_5.stl" /> | ||
</geometry> | ||
</collision> | ||
</link> | ||
<link name="${prefix}link_6"> | ||
<visual> | ||
<origin xyz="0 0 0" rpy="0 0 0" /> | ||
<geometry> | ||
<mesh filename="package://kuka_kr3_support/meshes/kr3r540/visual/link_6.stl" /> | ||
</geometry> | ||
<xacro:material_kuka_pedestal /> | ||
</visual> | ||
<collision> | ||
<origin xyz="0 0 0" rpy="0 0 0" /> | ||
<geometry> | ||
<mesh filename="package://kuka_kr3_support/meshes/kr3r540/collision/link_6.stl" /> | ||
</geometry> | ||
</collision> | ||
</link> | ||
<!-- This frame corresponds to the $FLANGE coordinate system in KUKA KRC controllers. --> | ||
<link name="${prefix}tool0" /> | ||
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<joint name="${prefix}joint_a1" type="revolute"> | ||
<origin xyz="0 0 0.345" rpy="0 0 0"/> | ||
<parent link="${prefix}base_link"/> | ||
<child link="${prefix}link_1"/> | ||
<axis xyz="0 0 -1"/> | ||
<limit lower="${radians(-170)}" upper="${radians(170)}" effort="0" velocity="${radians(530)}"/> | ||
</joint> | ||
<joint name="${prefix}joint_a2" type="revolute"> | ||
<origin xyz="0.020 0 0" rpy="0 0 0"/> | ||
<parent link="${prefix}link_1"/> | ||
<child link="${prefix}link_2"/> | ||
<axis xyz="0 1 0"/> | ||
<limit lower="${radians(-170)}" upper="${radians(50)}" effort="0" velocity="${radians(529)}"/> | ||
</joint> | ||
<joint name="${prefix}joint_a3" type="revolute"> | ||
<origin xyz="0.260 0 0" rpy="0 0 0"/> | ||
<parent link="${prefix}link_2"/> | ||
<child link="${prefix}link_3"/> | ||
<axis xyz="0 1 0"/> | ||
<limit lower="${radians(-110)}" upper="${radians(155)}" effort="0" velocity="${radians(538)}"/> | ||
</joint> | ||
<joint name="${prefix}joint_a4" type="revolute"> | ||
<origin xyz="0 0 0.020" rpy="0 0 0"/> | ||
<parent link="${prefix}link_3"/> | ||
<child link="${prefix}link_4"/> | ||
<axis xyz="-1 0 0"/> | ||
<limit lower="${radians(-175)}" upper="${radians(175)}" effort="0" velocity="${radians(600)}"/> | ||
</joint> | ||
<joint name="${prefix}joint_a5" type="revolute"> | ||
<origin xyz="0.260 0 0" rpy="0 0 0"/> | ||
<parent link="${prefix}link_4"/> | ||
<child link="${prefix}link_5"/> | ||
<axis xyz="0 1 0"/> | ||
<limit lower="${radians(-120)}" upper="${radians(120)}" effort="0" velocity="${radians(600)}"/> | ||
</joint> | ||
<joint name="${prefix}joint_a6" type="revolute"> | ||
<origin xyz="0.075 0 0" rpy="0 0 0"/> | ||
<parent link="${prefix}link_5"/> | ||
<child link="${prefix}link_6"/> | ||
<axis xyz="-1 0 0"/> | ||
<limit lower="${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> | ||
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<!-- 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> |
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