Merge branch 'master' into feature/sunrise_ip

README.md

@@ -92,6 +92,7 @@ Some of the data in the xacros might not be valid or missing, the following tabl
 |kr6_r900_sixx| agilus | ✓ | ✓ | ✓ | | | ✓ |
 |kr10_r1100_2| agilus | ✓ | ✓ | ✓ | ✓ | | |
 |kr16_r2010_2| cybertech | ✓ | ✓ | ✓ | ✓ | | |
+|kr70_r2100| iontec | ✓ | ✓ | ✓ | ✓ | ✓ | ✓ |
 |kr210_r2700_2| quantec | ✓ | ✓ | ✓ | ✓ | | |
 |kr210_r3100_2| quantec | ✓ | ✓ | ✓ | ✓ | | |
 |kr560_r3100_2| fortec | ✓ | ✓ | ✓ | ✓ | | ✓|
@@ -104,7 +105,7 @@ Additionally two hardware parameters are added:
 - To support similar timing behaviour as the actual robots, the mock hardware was extended with a blocking wait, so that the read function does not return immediately, but cyclically. The frequency of the loops is defined by the `cycle_time_ms` parameter. Default value is 4  [ms].
 - To be able to test whether a specific setup would fit into the roundtrip time enforced by a real robot, the `roundtrip_time_micro` parameter can be used. If the `write()` method is not called before the given timeout is exceeded (starting from the previous `read()` function), a warning message is logged (but the return value of the `write()` will be still SUCCESS). Default value is 0 [us], which means, that the roundrip time should not be monitored.
 
-The mock hardware was implemented in this repository to allow testing moveit without having to build the driver code.
+The mock hardware was implemented in this repository to allow testing moveit capabilities for the robots without having to build the driver code.
 
 ## Starting the move group server with mock hardware
 
@@ -127,4 +128,4 @@ ros2 launch kuka_lbr_iiwa_moveit_config moveit_planning_fake_hardware.launch.py
 ```
 A `robot_model` argument can be added after the command (e.g. `robot_model:=lbr_iisy11_r1300`). The default robot model is `lbr_iisy3_r760`
 
-These launch files are not using the actual driver implementation, they only start `rviz` the `move_group` server and a `ros2_control_node` with fake hardware and two controllers `joint_state_broadcaster` and `joint_trajectory_controller` The server will be able to accept planning requests from the plugin or from code. (An example how to create such a request from C++ code can be found in the `iiqka_moveit_example` package in the `kuka_drivers` repository.) To support hardwares with less performance, the update rate of the control node was reduced to 50 Hz for all robots.
+These launch files are not using the actual driver implementation, they only start `rviz` the `move_group` server and a `ros2_control_node` with fake hardware and two controllers `joint_state_broadcaster` and `joint_trajectory_controller` The server will be able to accept planning requests from the plugin or from code. (An example how to create such a request from C++ code can be found in the `iiqka_moveit_example` package in the `kuka_drivers` repository.)

kuka_agilus_support/package.xml

@@ -1,44 +1,16 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>kuka_agilus_support</name>
-  <version>0.1.0</version>
-  <description>
-    <p>
-      ROS-Industrial support for the KUKA KR 6 (and variants).
-    </p>
-    <p>
-      This package contains configuration data, 3D models and launch files
-      for KUKA agilus manipulators. This currently includes the R700 sixx,
-      the R900 sixx and the R1100-2.
-    </p>
-    <p><b>Specifications</b>:</p>
-    <ul>
-      <li>KR 6 R700 sixx - Default</li>
-      <li>KR 6 R900 sixx - Default</li>
-      <li>KR 6 R1100-2 - Default</li>
-    </ul>
-    <p>
-      Joint limits and maximum joint velocities for sixx models are based on the information
-      in the <em>KUKA Roboter GmbH - KR AGILUS sixx - With W and C Variants -
-      Specification</em> version <em>Spez KR AGILUS sixx V12, 26.03.2015</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>G.A. vd. Hoorn (TU Delft Robotics Institute)</author>
+  <version>0.9.0</version>
+  <description>Robot models for the KUKA agilus family.</description>
   <author>Brett Hemes (3M)</author>
-  <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
+  <author email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn (TU Delft Robotics Institute)</author>
   <maintainer email="svastits1@gmail.com">Aron Svastits</maintainer>
-  <license>BSD</license>
+  <license>Apache-2.0</license>
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>urdf</depend>
   <depend>xacro</depend>
-  <depend>launch_ros</depend>
+  <exec_depend>launch_ros</exec_depend>
   <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>kuka_resources</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>

kuka_agilus_support/test/test_kr_agilus.py

@@ -1,4 +1,4 @@
-# Copyright 2024 Áron Svastits
+# Copyright 2024 Aron Svastits
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

kuka_agilus_support/urdf/kr10_r1100_2.urdf.xacro

@@ -4,6 +4,7 @@
   <xacro:include filename="$(find kuka_agilus_support)/urdf/kr10_r1100_2_macro.xacro"/>
   <!-- Read additional arguments  -->
   <xacro:arg name="use_fake_hardware" default="false"/>
+  <xacro:arg name="roundtrip_time" default="0"/>
   <xacro:arg name="client_ip" default="0.0.0.0"/>
   <xacro:arg name="client_port" default="59152"/>
   <xacro:arg name="prefix" default=""/>
@@ -13,7 +14,7 @@
   <xacro:arg name="roll" default="0"/>
   <xacro:arg name="pitch" default="0"/>
   <xacro:arg name="yaw" default="0"/>
-  <xacro:kuka_kr10_r1100_2_robot client_ip="$(arg client_ip)" client_port="$(arg client_port)" prefix="$(arg prefix)" use_fake_hardware="$(arg use_fake_hardware)">
+  <xacro:kuka_kr10_r1100_2_robot client_ip="$(arg client_ip)" client_port="$(arg client_port)" prefix="$(arg prefix)" use_fake_hardware="$(arg use_fake_hardware)" roundtrip_time="$(arg roundtrip_time)">
     <origin xyz="$(arg x) $(arg y) $(arg z)" rpy="$(arg roll) $(arg pitch) $(arg yaw)"/>
   </xacro:kuka_kr10_r1100_2_robot>
 </robot>

kuka_agilus_support/urdf/kr10_r1100_2_macro.xacro

@@ -4,9 +4,9 @@
   <xacro:include filename="$(find kuka_agilus_support)/urdf/kr_agilus_ros2_control.xacro"/>
   <xacro:include filename="$(find kuka_agilus_support)/urdf/kr_agilus_transmission.xacro"/>
   <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
-  <xacro:macro name="kuka_kr10_r1100_2_robot" params="client_ip client_port prefix use_fake_hardware *origin">
+  <xacro:macro name="kuka_kr10_r1100_2_robot" params="client_ip client_port prefix use_fake_hardware roundtrip_time *origin">
     <!-- ros2 control instance -->
-    <xacro:kuka_agilus_ros2_control name="${prefix}kr10_r1100_2" client_ip="${client_ip}" client_port="${client_port}" prefix="${prefix}" use_fake_hardware="${use_fake_hardware}"/>
+    <xacro:kuka_agilus_ros2_control name="${prefix}kr10_r1100_2" client_ip="${client_ip}" client_port="${client_port}" prefix="${prefix}" use_fake_hardware="${use_fake_hardware}" roundtrip_time="${roundtrip_time}"/>
     <!-- links - main serial chain -->
     <link name="world"/>
     <link name="${prefix}base_link">

kuka_agilus_support/urdf/kr6_r700_sixx.urdf.xacro

@@ -4,6 +4,7 @@
   <xacro:include filename="$(find kuka_agilus_support)/urdf/kr6_r700_sixx_macro.xacro"/>
   <!-- Read additional arguments  -->
   <xacro:arg name="use_fake_hardware" default="false"/>
+  <xacro:arg name="roundtrip_time" default="0"/>
   <xacro:arg name="client_ip" default="0.0.0.0"/>
   <xacro:arg name="client_port" default="59152"/>
   <xacro:arg name="prefix" default=""/>
@@ -13,7 +14,7 @@
   <xacro:arg name="roll" default="0"/>
   <xacro:arg name="pitch" default="0"/>
   <xacro:arg name="yaw" default="0"/>
-  <xacro:kuka_kr6_r700_sixx_robot client_ip="$(arg client_ip)" client_port="$(arg client_port)" prefix="$(arg prefix)" use_fake_hardware="$(arg use_fake_hardware)">
+  <xacro:kuka_kr6_r700_sixx_robot client_ip="$(arg client_ip)" client_port="$(arg client_port)" prefix="$(arg prefix)" use_fake_hardware="$(arg use_fake_hardware)" roundtrip_time="$(arg roundtrip_time)">
     <origin xyz="$(arg x) $(arg y) $(arg z)" rpy="$(arg roll) $(arg pitch) $(arg yaw)"/>
   </xacro:kuka_kr6_r700_sixx_robot>
 </robot>

kuka_agilus_support/urdf/kr6_r700_sixx_macro.xacro

@@ -4,9 +4,9 @@
   <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
   <xacro:include filename="$(find kuka_agilus_support)/urdf/kr_agilus_ros2_control.xacro"/>
   <xacro:include filename="$(find kuka_agilus_support)/urdf/kr_agilus_transmission.xacro"/>
-  <xacro:macro name="kuka_kr6_r700_sixx_robot" params="client_ip client_port prefix use_fake_hardware *origin">
+  <xacro:macro name="kuka_kr6_r700_sixx_robot" params="client_ip client_port prefix use_fake_hardware roundtrip_time *origin">
     <!-- ros2 control instance -->
-    <xacro:kuka_agilus_ros2_control name="${prefix}kr6_r700_sixx" client_ip="${client_ip}" client_port="${client_port}" prefix="${prefix}" use_fake_hardware="${use_fake_hardware}"/>
+    <xacro:kuka_agilus_ros2_control name="${prefix}kr6_r700_sixx" client_ip="${client_ip}" client_port="${client_port}" prefix="${prefix}" use_fake_hardware="${use_fake_hardware}" roundtrip_time="${roundtrip_time}"/>
     <link name="world"/>
     <link name="${prefix}base_link">
       <visual>

kuka_agilus_support/urdf/kr6_r900_sixx.urdf.xacro

@@ -4,6 +4,7 @@
   <xacro:include filename="$(find kuka_agilus_support)/urdf/kr6_r900_sixx_macro.xacro"/>
   <!-- Read additional arguments  -->
   <xacro:arg name="use_fake_hardware" default="false"/>
+  <xacro:arg name="roundtrip_time" default="0"/>
   <xacro:arg name="client_ip" default="0.0.0.0"/>
   <xacro:arg name="client_port" default="59152"/>
   <xacro:arg name="prefix" default=""/>
@@ -13,7 +14,7 @@
   <xacro:arg name="roll" default="0"/>
   <xacro:arg name="pitch" default="0"/>
   <xacro:arg name="yaw" default="0"/>
-  <xacro:kuka_kr6_r900_sixx_robot client_ip="$(arg client_ip)" client_port="$(arg client_port)" prefix="$(arg prefix)" use_fake_hardware="$(arg use_fake_hardware)">
+  <xacro:kuka_kr6_r900_sixx_robot client_ip="$(arg client_ip)" client_port="$(arg client_port)" prefix="$(arg prefix)" use_fake_hardware="$(arg use_fake_hardware)" roundtrip_time="$(arg roundtrip_time)">
     <origin xyz="$(arg x) $(arg y) $(arg z)" rpy="$(arg roll) $(arg pitch) $(arg yaw)"/>
   </xacro:kuka_kr6_r900_sixx_robot>
 </robot>

kuka_agilus_support/urdf/kr6_r900_sixx_macro.xacro

@@ -4,9 +4,9 @@
   <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
   <xacro:include filename="$(find kuka_agilus_support)/urdf/kr_agilus_ros2_control.xacro"/>
   <xacro:include filename="$(find kuka_agilus_support)/urdf/kr_agilus_transmission.xacro"/>
-  <xacro:macro name="kuka_kr6_r900_sixx_robot" params="client_ip client_port prefix use_fake_hardware *origin">
+  <xacro:macro name="kuka_kr6_r900_sixx_robot" params="client_ip client_port prefix use_fake_hardware roundtrip_time *origin">
     <!-- ros2 control instance -->
-    <xacro:kuka_agilus_ros2_control name="${prefix}kr6_r900_sixx" client_ip="${client_ip}" client_port="${client_port}" prefix="${prefix}" use_fake_hardware="${use_fake_hardware}"/>
+    <xacro:kuka_agilus_ros2_control name="${prefix}kr6_r900_sixx" client_ip="${client_ip}" client_port="${client_port}" prefix="${prefix}" use_fake_hardware="${use_fake_hardware}" roundtrip_time="${roundtrip_time}"/>
     <link name="world"/>
     <link name="${prefix}base_link">
       <visual>

kuka_agilus_support/urdf/kr_agilus_ros2_control.xacro

@@ -1,12 +1,12 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:macro name="kuka_agilus_ros2_control" params="name client_ip client_port prefix use_fake_hardware">
+  <xacro:macro name="kuka_agilus_ros2_control" params="name client_ip client_port prefix use_fake_hardware roundtrip_time">
     <ros2_control name="${name}" type="system">
       <hardware>
         <xacro:if value="${use_fake_hardware}">
           <plugin>kuka_mock_hardware_interface::KukaMockHardwareInterface</plugin>
           <param name="cycle_time_ms">4</param>
-          <param name="roundtrip_time_micro">4000</param>
+          <param name="roundtrip_time_micro">${roundtrip_time}</param>
           <param name="mock_sensor_commands">false</param>
           <param name="state_following_offset">0.0</param>
         </xacro:if>
@@ -25,13 +25,13 @@
       <joint name="${prefix}joint_2">
         <command_interface name="position"/>
         <state_interface name="position">
-          <param name="initial_value">0.0</param>
+          <param name="initial_value">-1.5708</param>
         </state_interface>
       </joint>
       <joint name="${prefix}joint_3">
         <command_interface name="position"/>
         <state_interface name="position">
-          <param name="initial_value">0.0</param>
+          <param name="initial_value">1.5708</param>
         </state_interface>
       </joint>
       <joint name="${prefix}joint_4">

kuka_cybertech_support/package.xml

@@ -1,14 +1,14 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>kuka_cybertech_support</name>
-  <version>0.0.1</version>
+  <version>0.9.0</version>
   <description>Robot models for the KUKA cybertech family.</description>
-  <author>Aron Svastits</author>
   <maintainer email="svastits1@gmail.com">Aron Svastits</maintainer>
-  <license>BSD</license>
+  <license>Apache-2.0</license>
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>urdf</depend>
   <depend>xacro</depend>
-  <depend>launch_ros</depend>
+  <exec_depend>launch_ros</exec_depend>
   <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>kuka_resources</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>

kuka_cybertech_support/test/test_kr_cybertech.py

@@ -1,4 +1,4 @@
-# Copyright 2024 Áron Svastits
+# Copyright 2024 Aron Svastits
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

kuka_cybertech_support/urdf/kr16_r2010_2.urdf.xacro

@@ -4,6 +4,7 @@
   <xacro:include filename="$(find kuka_cybertech_support)/urdf/kr16_r2010_2_macro.xacro"/>
   <!-- Read additional arguments  -->
   <xacro:arg name="use_fake_hardware" default="false"/>
+  <xacro:arg name="roundtrip_time" default="0"/>
   <xacro:arg name="client_ip" default="0.0.0.0"/>
   <xacro:arg name="client_port" default="59152"/>
   <xacro:arg name="prefix" default=""/>
@@ -13,7 +14,7 @@
   <xacro:arg name="roll" default="0"/>
   <xacro:arg name="pitch" default="0"/>
   <xacro:arg name="yaw" default="0"/>
-  <xacro:kuka_kr16_r2010_2_robot client_ip="$(arg client_ip)" client_port="$(arg client_port)" prefix="$(arg prefix)" use_fake_hardware="$(arg use_fake_hardware)">
+  <xacro:kuka_kr16_r2010_2_robot client_ip="$(arg client_ip)" client_port="$(arg client_port)" prefix="$(arg prefix)" use_fake_hardware="$(arg use_fake_hardware)" roundtrip_time="$(arg roundtrip_time)">
     <origin xyz="$(arg x) $(arg y) $(arg z)" rpy="$(arg roll) $(arg pitch) $(arg yaw)"/>
   </xacro:kuka_kr16_r2010_2_robot>
 </robot>

kuka_cybertech_support/urdf/kr16_r2010_2_macro.xacro

@@ -2,9 +2,9 @@
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:include filename="$(find kuka_cybertech_support)/urdf/kr_cybertech_ros2_control.xacro"/>
   <xacro:include filename="$(find kuka_cybertech_support)/urdf/kr_cybertech_transmission.xacro"/>
-  <xacro:macro name="kuka_kr16_r2010_2_robot" params="client_ip client_port prefix use_fake_hardware *origin">
+  <xacro:macro name="kuka_kr16_r2010_2_robot" params="client_ip client_port prefix use_fake_hardware roundtrip_time *origin">
     <!-- ros2 control instance -->
-    <xacro:kuka_cybertech_ros2_control name="${prefix}kr16_r2010_2" client_ip="${client_ip}" client_port="${client_port}" prefix="${prefix}" use_fake_hardware="${use_fake_hardware}"/>
+    <xacro:kuka_cybertech_ros2_control name="${prefix}kr16_r2010_2" client_ip="${client_ip}" client_port="${client_port}" prefix="${prefix}" use_fake_hardware="${use_fake_hardware}" roundtrip_time="${roundtrip_time}"/>
     <link name="world"/>
     <link name="${prefix}base_link">
       <collision>

kuka_cybertech_support/urdf/kr_cybertech_ros2_control.xacro

@@ -1,12 +1,12 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:macro name="kuka_cybertech_ros2_control" params="name client_ip client_port prefix use_fake_hardware">
+  <xacro:macro name="kuka_cybertech_ros2_control" params="name client_ip client_port prefix use_fake_hardware roundtrip_time">
     <ros2_control name="${name}" type="system">
       <hardware>
         <xacro:if value="${use_fake_hardware}">
           <plugin>kuka_mock_hardware_interface::KukaMockHardwareInterface</plugin>
           <param name="cycle_time_ms">4</param>
-          <param name="roundtrip_time_micro">4000</param>
+          <param name="roundtrip_time_micro">${roundtrip_time}</param>
           <param name="mock_sensor_commands">false</param>
           <param name="state_following_offset">0.0</param>
         </xacro:if>
@@ -25,13 +25,13 @@
       <joint name="${prefix}joint_2">
         <command_interface name="position"/>
         <state_interface name="position">
-          <param name="initial_value">0.0</param>
+          <param name="initial_value">-1.5708</param>
         </state_interface>
       </joint>
       <joint name="${prefix}joint_3">
         <command_interface name="position"/>
         <state_interface name="position">
-          <param name="initial_value">0.0</param>
+          <param name="initial_value">1.5708</param>
         </state_interface>
       </joint>
       <joint name="${prefix}joint_4">

kuka_fortec_support/package.xml

@@ -1,14 +1,15 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>kuka_fortec_support</name>
-  <version>0.0.1</version>
+  <version>0.9.0</version>
   <description>Robot models for the KUKA FORTEC family.</description>
-  <author>Eugenio Bernardi</author>
-  <maintainer email="e.bernardi@tudelft.nl">Eugenio Bernardi</maintainer>
-  <license>BSD</license>
+  <author email="e.bernardi@tudelft.nl">Eugenio Bernardi</author>
+  <maintainer email="svastits1@gmail.com">Aron Svastits</maintainer>
+  <license>Apache-2.0</license>
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>urdf</depend>
   <depend>xacro</depend>
-  <depend>launch_ros</depend>
+  <exec_depend>launch_ros</exec_depend>
   <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>kuka_resources</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>

kuka_fortec_support/test/test_kr_fortec.py

@@ -1,4 +1,4 @@
-# Copyright 2024 Áron Svastits
+# Copyright 2024 Aron Svastits
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.

kuka_fortec_support/urdf/kr560_r3100_2.urdf.xacro

@@ -4,6 +4,7 @@
   <xacro:include filename="$(find kuka_fortec_support)/urdf/kr560_r3100_2_macro.xacro"/>
   <!-- Read additional arguments  -->
   <xacro:arg name="use_fake_hardware" default="false"/>
+  <xacro:arg name="roundtrip_time" default="0"/>
   <xacro:arg name="client_ip" default="0.0.0.0"/>
   <xacro:arg name="client_port" default="59152"/>
   <xacro:arg name="prefix" default=""/>
@@ -13,7 +14,7 @@
   <xacro:arg name="roll" default="0"/>
   <xacro:arg name="pitch" default="0"/>
   <xacro:arg name="yaw" default="0"/>
-  <xacro:kuka_kr560_r3100_2_robot client_ip="$(arg client_ip)" client_port="$(arg client_port)" prefix="$(arg prefix)" use_fake_hardware="$(arg use_fake_hardware)">
+  <xacro:kuka_kr560_r3100_2_robot client_ip="$(arg client_ip)" client_port="$(arg client_port)" prefix="$(arg prefix)" use_fake_hardware="$(arg use_fake_hardware)" roundtrip_time="$(arg roundtrip_time)">
     <origin xyz="$(arg x) $(arg y) $(arg z)" rpy="$(arg roll) $(arg pitch) $(arg yaw)"/>
   </xacro:kuka_kr560_r3100_2_robot>
 </robot>