Add KR 4 R600

kuka_kr4_support/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+
+project(kuka_kr4_support)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+if (CATKIN_ENABLE_TESTING)
+  find_package(roslaunch REQUIRED)
+  roslaunch_add_file_check(test/roslaunch_test_kr4r600.xml)
+endif()
+
+install(DIRECTORY config launch meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

kuka_kr4_support/config/joint_names_kr4r600.yaml

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+controller_joint_names: ['joint_a1', 'joint_a2', 'joint_a3', 'joint_a4', 'joint_a5', 'joint_a6']

kuka_kr4_support/config/opw_parameters_kr4r600.yaml

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+#
+# Parameters for use with IK solvers which support OPW (Ortho-Parallel Wrist)
+# kinematic configurations, as described in the paper "An Analytical Solution
+# of the Inverse Kinematics Problem of Industrial Serial Manipulators with an
+# Ortho-parallel Basis and a Spherical Wrist" by Mathias Brandstötter, Arthur
+# Angerer, and Michael Hofbaur (Proceedings of the Austrian Robotics Workshop
+# 2014, 22-23 May, 2014, Linz, Austria).
+#
+# The moveit_opw_kinematics_plugin package provides such a solver.
+#
+opw_kinematics_geometric_parameters:
+    a1:  0.0
+    a2:  -0.02
+    b:   0.0
+    c1:  0.33
+    c2:  0.29
+    c3:  0.31
+    c4:  0.075
+opw_kinematics_joint_offsets: [0.0, deg(-90.0), 0.0, 0.0, 0.0, 0.0]
+opw_kinematics_joint_sign_corrections: [-1, 1, 1, -1, 1, -1]

kuka_kr4_support/launch/load_kr4r600.launch

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+<?xml version="1.0"?>
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro '$(find kuka_kr4_support)/urdf/kr4r600.xacro'"/>
+</launch>

kuka_kr4_support/launch/test_kr4r600.launch

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+<?xml version="1.0"?>
+<launch>
+  <include file="$(find kuka_kr4_support)/launch/load_kr4r600.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_kr4_support/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>kuka_kr4_support</name>
+  <version>0.1.0</version>
+  <description>
+    <p>
+      ROS-Industrial support for the KUKA KR 4 (and variants).
+    </p>
+    <p>
+      This package contains configuration data, 3D models and launch files
+      for the KUKA KR 4 manipulators. This currently includes the R600 only.
+    </p>
+    <p><b>Specifications</b>:</p>
+    <ul>
+      <li>KR 4 R600 - 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>Datasheet KR 4 R600 V13.1, 19.03.2021</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>Simon Schmeisser (Optonic GmbH)</author>
+  <maintainer email="simon.schmeisser@optonic.com">Simon Schmeisser (Optonic GmbH)</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_kr4_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>kuka_resources</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_kr4_support/test/roslaunch_test_kr4r600.xml

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+<?xml version="1.0" ?>
+<launch>
+  <group ns="load_kr4r600__">
+    <include file="$(find kuka_kr4_support)/launch/load_kr4r600.launch"/>
+  </group>
+
+  <group ns="test_kr4r600__">
+    <include file="$(find kuka_kr4_support)/launch/test_kr4r600.launch"/>
+  </group>
+</launch>

kuka_kr4_support/urdf/kr4r600.xacro

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+<?xml version="1.0" ?>
+<robot name="kuka_kr4r600" xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:include filename="$(find kuka_kr4_support)/urdf/kr4r600_macro.xacro"/>
+  <xacro:kuka_kr4r600 prefix=""/>
+</robot>

kuka_kr4_support/urdf/kr4r600_macro.xacro

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+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/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" />
+        <geometry>
+          <mesh filename="package://kuka_kr4_support/meshes/kr4r600/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_kr4_support/meshes/kr4r600/collision/base_link.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_1">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr4_support/meshes/kr4r600/visual/link_1.stl" />
+        </geometry>
+        <xacro:material_kuka_ral_pure_white />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr4_support/meshes/kr4r600/collision/link_1.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_2">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr4_support/meshes/kr4r600/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_kr4_support/meshes/kr4r600/collision/link_2.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_3">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr4_support/meshes/kr4r600/visual/link_3.stl" />
+        </geometry>
+        <xacro:material_kuka_ral_pure_white />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr4_support/meshes/kr4r600/collision/link_3.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_4">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr4_support/meshes/kr4r600/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_kr4_support/meshes/kr4r600/collision/link_4.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_5">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr4_support/meshes/kr4r600/visual/link_5.stl" />
+        </geometry>
+        <xacro:material_kuka_ral_pure_white />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr4_support/meshes/kr4r600/collision/link_5.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_6">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_kr4_support/meshes/kr4r600/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_kr4_support/meshes/kr4r600/collision/link_6.stl" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="${prefix}joint_a1" type="revolute">
+      <origin xyz="0 0 0.33" rpy="0 0 0"/>
+      <parent link="${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="${prefix}joint_a2" type="revolute">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_1"/>
+      <child link="${prefix}link_2"/>
+      <axis xyz="0 1 0"/>
+      <limit lower="${radians(-195)}" upper="${radians(40)}" effort="0" velocity="${radians(529)}"/>
+    </joint>
+    <joint name="${prefix}joint_a3" type="revolute">
+      <origin xyz="0.290 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_2"/>
+      <child link="${prefix}link_3"/>
+      <axis xyz="0 1 0"/>
+      <limit lower="${radians(-115)}" upper="${radians(150)}" effort="0" velocity="${radians(538)}"/>
+    </joint>
+    <joint name="${prefix}joint_a4" type="revolute">
+      <origin xyz="0.310 0 0.020" rpy="0 0 0"/>
+      <parent link="${prefix}link_3"/>
+      <child link="${prefix}link_4"/>
+      <axis xyz="-1 0 0"/>
+      <limit lower="${radians(-185)}" upper="${radians(185)}" effort="0" velocity="${radians(600)}"/>
+    </joint>
+    <joint name="${prefix}joint_a5" type="revolute">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <parent link="${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>
+
+    <!-- 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>