kr10-r1100

kroshu · Aug 25, 2023 · b07e7b3 · b07e7b3
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diff --git a/kuka_agilus_support/launch/test_kr10r1100-2.launch.py b/kuka_agilus_support/launch/test_kr10r1100-2.launch.py
@@ -0,0 +1,58 @@
+# Copyright 2022 Márton Antal
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch import LaunchDescription
+from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    robot_description_content = Command(
+        [
+            PathJoinSubstitution([FindExecutable(name="xacro")]),
+            " ",
+            PathJoinSubstitution(
+                [FindPackageShare("kuka_agilus_support"),
+                 "urdf", "kr10_r1100-2.urdf.xacro"]
+            ),
+            " ",
+        ]
+    )
+    robot_description = {'robot_description': robot_description_content}
+
+    # RViz
+    rviz_config_file = PathJoinSubstitution([FindPackageShare(
+        'kuka_agilus_support'), "config", "agilus_urdf.rviz"])
+    rviz_node = Node(package='rviz2',
+                     executable='rviz2',
+                     name='rviz2_launch',
+                     output='log',
+                     arguments=['-d', rviz_config_file],
+                     parameters=[robot_description])
+
+    # Publish TF
+    robot_state_publisher = Node(package='robot_state_publisher',
+                                 executable='robot_state_publisher',
+                                 name='robot_state_publisher',
+                                 output='both',
+                                 parameters=[robot_description])
+
+    # Joint state publisher
+    joint_state_publisher = Node(package='joint_state_publisher',
+                                 executable='joint_state_publisher',
+                                 name='joint_state_publisher',
+                                 output='log')
+
+    return LaunchDescription([robot_state_publisher, rviz_node, joint_state_publisher])
diff --git a/kuka_agilus_support/meshes/kr10_r1100-2/collision/base_link.stl b/kuka_agilus_support/meshes/kr10_r1100-2/collision/base_link.stl
diff --git a/kuka_agilus_support/meshes/kr10_r1100-2/collision/link_1.stl b/kuka_agilus_support/meshes/kr10_r1100-2/collision/link_1.stl
diff --git a/kuka_agilus_support/meshes/kr10_r1100-2/collision/link_2.stl b/kuka_agilus_support/meshes/kr10_r1100-2/collision/link_2.stl
diff --git a/kuka_agilus_support/meshes/kr10_r1100-2/collision/link_3.stl b/kuka_agilus_support/meshes/kr10_r1100-2/collision/link_3.stl
diff --git a/kuka_agilus_support/meshes/kr10_r1100-2/collision/link_4.stl b/kuka_agilus_support/meshes/kr10_r1100-2/collision/link_4.stl
diff --git a/kuka_agilus_support/meshes/kr10_r1100-2/collision/link_5.stl b/kuka_agilus_support/meshes/kr10_r1100-2/collision/link_5.stl
diff --git a/kuka_agilus_support/meshes/kr10_r1100-2/collision/link_6.stl b/kuka_agilus_support/meshes/kr10_r1100-2/collision/link_6.stl
diff --git a/kuka_agilus_support/meshes/kr10_r1100-2/visual/base_link.stl b/kuka_agilus_support/meshes/kr10_r1100-2/visual/base_link.stl
diff --git a/kuka_agilus_support/meshes/kr10_r1100-2/visual/link_1.stl b/kuka_agilus_support/meshes/kr10_r1100-2/visual/link_1.stl
diff --git a/kuka_agilus_support/meshes/kr10_r1100-2/visual/link_2.stl b/kuka_agilus_support/meshes/kr10_r1100-2/visual/link_2.stl
diff --git a/kuka_agilus_support/meshes/kr10_r1100-2/visual/link_3.stl b/kuka_agilus_support/meshes/kr10_r1100-2/visual/link_3.stl
diff --git a/kuka_agilus_support/meshes/kr10_r1100-2/visual/link_4.stl b/kuka_agilus_support/meshes/kr10_r1100-2/visual/link_4.stl
diff --git a/kuka_agilus_support/meshes/kr10_r1100-2/visual/link_5.stl b/kuka_agilus_support/meshes/kr10_r1100-2/visual/link_5.stl
diff --git a/kuka_agilus_support/meshes/kr10_r1100-2/visual/link_6.stl b/kuka_agilus_support/meshes/kr10_r1100-2/visual/link_6.stl
diff --git a/kuka_agilus_support/urdf/kr10_r1100-2.urdf.xacro b/kuka_agilus_support/urdf/kr10_r1100-2.urdf.xacro
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="kr10_r1100-2">
+<!-- Import urdf file  -->
+<xacro:include filename="$(find kuka_agilus_support)/urdf/kr10_r1100-2_macro.xacro"/>
+
+<!-- Read parameters from rsi_config  -->
+<xacro:property name="rsi_config" value="$(find kuka_rsi_hw_interface)/config/rsi_config.yaml" />
+<xacro:property name="rsi_config_dict" value="${xacro.load_yaml(rsi_config)}"/>
+<xacro:property name="client_ip" value="${rsi_config_dict['client_ip']}" />
+<xacro:property name="client_port" value="${rsi_config_dict['client_port']}" />
+
+<!-- Read additional arguments  -->
+<xacro:arg name="use_fake_hardware" default="false" />
+
+<xacro:kuka_kr10_r1100-2_robot prefix=""
+                  client_ip="${client_ip}" 
+                  client_port="${client_port}" 
+                  use_fake_hardware="$(arg use_fake_hardware)"/>
+</robot>
diff --git a/kuka_agilus_support/urdf/kr10_r1100-2_macro.xacro b/kuka_agilus_support/urdf/kr10_r1100-2_macro.xacro
@@ -0,0 +1,234 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="kr10_r1100-2">
+  <!-- include helper xacros -->
+  <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="$(find kuka_resources)/urdf/common_materials.xacro"/>
+
+  <xacro:macro name="kuka_kr10_r1100-2_robot" params="prefix client_ip client_port use_fake_hardware">
+    <!-- ros2 control instance -->
+    <xacro:kuka_agilus_ros2_control
+    name="kr10_r1100-2" 
+    prefix="${prefix}"
+    client_ip="${client_ip}"
+    client_port="${client_port}"
+    use_fake_hardware="${use_fake_hardware}" />
+
+    <!-- links - main serial chain -->
+    <!-- links - root element cannot have inertia, therefore a dummy base_link is needed -->
+    <link name="${prefix}base_link"/>
+    <link name="${prefix}base_link_inertia">
+      <collision>
+        <geometry>
+          <mesh filename="package://kuka_agilus_support/meshes/kr10_r1100-2/collision/base_link.stl" />
+        </geometry>
+        <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
+      </collision>
+      <inertial>
+        <inertia ixx="0.08498822" ixy="0.0" ixz="0.0" iyy="0.09924171" iyz="0.0" izz="0.12962827"/>
+        <mass value="1.6257E1"/>
+        <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0"/>
+      </inertial>
+      <visual>
+        <geometry>
+          <mesh filename="package://kuka_agilus_support/meshes/kr10_r1100-2/visual/base_link.stl" />
+        </geometry>
+        <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
+        <xacro:material_kuka_ral_pure_white />
+      </visual>
+    </link>
+    <link name="${prefix}link_1">
+      <collision>
+        <geometry>
+          <mesh filename="package://kuka_agilus_support/meshes/kr10_r1100-2/collision/link_1.stl" />
+        </geometry>
+        <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
+      </collision>
+      <inertial>
+        <inertia ixx="0.90636233" ixy="0.0" ixz="0.0" iyy="0.09221003" iyz="0.0" izz="0.94693048"/>
+        <mass value="1.0044E1"/>
+        <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0"/>
+      </inertial>
+      <visual>
+        <geometry>
+          <mesh filename="package://kuka_agilus_support/meshes/kr10_r1100-2/visual/link_1.stl" />
+        </geometry>
+        <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
+        <xacro:material_kuka_ral_pure_white />
+      </visual>
+    </link>
+    <link name="${prefix}link_2">
+      <collision>
+        <geometry>
+          <mesh filename="package://kuka_agilus_support/meshes/kr10_r1100-2/collision/link_2.stl" />
+        </geometry>
+        <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
+      </collision>
+      <inertial>
+        <inertia ixx="0.01725999" ixy="0.0" ixz="0.0" iyy="0.0413898" iyz="0.0" izz="0.04495653"/>
+        <mass value="1.74049E1"/>
+        <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0"/>
+      </inertial>
+      <visual>
+        <geometry>
+          <mesh filename="package://kuka_agilus_support/meshes/kr10_r1100-2/visual/link_2.stl" />
+        </geometry>
+        <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
+        <xacro:material_kuka_ral_pure_white />
+      </visual>
+    </link>
+    <link name="${prefix}link_3">
+      <collision>
+        <geometry>
+          <mesh filename="package://kuka_agilus_support/meshes/kr10_r1100-2/collision/link_3.stl" />
+        </geometry>
+        <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
+      </collision>
+      <inertial>
+        <inertia ixx="0.01273476" ixy="0.0" ixz="0.0" iyy="0.09381377" iyz="0.0" izz="0.09692989"/>
+        <mass value="5.439E0"/>
+        <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0"/>
+      </inertial>
+      <visual>
+        <geometry>
+          <mesh filename="package://kuka_agilus_support/meshes/kr10_r1100-2/visual/link_3.stl" />
+        </geometry>
+        <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
+        <xacro:material_kuka_ral_pure_white />
+      </visual>
+    </link>
+    <link name="${prefix}link_4">
+      <collision>
+        <geometry>
+          <mesh filename="package://kuka_agilus_support/meshes/kr10_r1100-2/collision/link_4.stl" />
+        </geometry>
+        <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
+      </collision>
+      <inertial>
+        <inertia ixx="0.00277153" ixy="0.0" ixz="0.0" iyy="0.00176394" iyz="0.0" izz="0.00304985"/>
+        <mass value="5.497380706E0"/>
+        <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0"/>
+      </inertial>
+      <visual>
+        <geometry>
+          <mesh filename="package://kuka_agilus_support/meshes/kr10_r1100-2/visual/link_4.stl" />
+        </geometry>
+        <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
+        <xacro:material_kuka_ral_pure_white />
+      </visual>
+    </link>
+    <link name="${prefix}link_5">
+      <collision>
+        <geometry>
+          <mesh filename="package://kuka_agilus_support/meshes/kr10_r1100-2/collision/link_5.stl" />
+        </geometry>
+        <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
+      </collision>
+      <inertial>
+        <inertia ixx="1.7799E-4" ixy="0.0" ixz="0.0" iyy="1.7643E-4" iyz="0.0" izz="2.9589E-4"/>
+        <mass value="1.6438E0"/>
+        <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0"/>
+      </inertial>
+      <visual>
+        <geometry>
+          <mesh filename="package://kuka_agilus_support/meshes/kr10_r1100-2/visual/link_5.stl" />
+        </geometry>
+        <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
+        <xacro:material_kuka_ral_pure_white />
+      </visual>
+    </link>
+    <link name="${prefix}link_6">
+      <collision>
+        <geometry>
+          <mesh filename="package://kuka_agilus_support/meshes/kr10_r1100-2/collision/link_6.stl" />
+        </geometry>
+        <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
+      </collision>
+      <inertial>
+        <inertia ixx="1.7799E-4" ixy="0.0" ixz="0.0" iyy="1.7643E-4" iyz="0.0" izz="2.9589E-4"/>
+        <mass value="4.64E-1"/>
+        <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0"/>
+      </inertial>
+      <visual>
+        <geometry>
+          <mesh filename="package://kuka_agilus_support/meshes/kr10_r1100-2/visual/link_6.stl" />
+        </geometry>
+        <origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0" />
+        <xacro:material_kuka_ral_pure_white />
+      </visual>
+    </link>
+
+    <!-- joints - main serial chain -->
+    <joint name="${prefix}base_link-base_link_inertia" type="fixed">
+      <parent link="${prefix}base_link" />
+      <child link="${prefix}base_link_inertia" />
+      <origin xyz="0 0 0" rpy="0 0 0" />
+    </joint>
+    <joint name="${prefix}joint_a1" type="revolute">
+      <axis xyz="0.0 0.0 1.0" />
+      <child link="${prefix}link_1" />
+      <limit effort="1.0E1" lower="-2.9670597283903604E0" upper="2.9670597283903604E0" velocity="8.001E3"/>
+      <origin rpy="-3.141592653589793 0.0 -0.0" xyz="0.0 0.0 0.0"/>
+      <parent link="${prefix}base_link_inertia" />
+    </joint>
+    <joint name="${prefix}joint_a2" type="revolute">
+      <axis xyz="0.0 0.0 1.0" />
+      <child link="${prefix}link_2" />
+      <limit effort="1.0E1" lower="-3.3161255787892263E0" upper="7.853981633974483E-1" velocity="8.001E3"/>
+      <origin rpy="1.5707963267948963 0.0 -0.0" xyz="0.025 0.0 -0.4"/>
+      <parent link="${prefix}link_1" />
+    </joint>
+    <joint name="${prefix}joint_a3" type="revolute">
+      <axis xyz="0.0 0.0 1.0" />
+      <child link="${prefix}link_3" />
+      <limit effort="1.0E1" lower="-2.0943951023931953E0" upper="2.722713633111154E0" velocity="8.001E3"/>
+      <origin rpy="0.0 0.0 -1.5707963267948963" xyz="0.56 0.0 0.0"/>
+      <parent link="${prefix}link_2" />
+    </joint>
+    <joint name="${prefix}joint_a4" type="revolute">
+      <axis xyz="0.0 0.0 1.0" />
+      <child link="${prefix}link_4" />
+      <limit effort="0.0E0" lower="-3.2288591161895095E0" upper="3.2288591161895095E0" velocity="8.001E3"/>
+      <origin rpy="1.5707963267948963 0.0 -0.0" xyz="0.025 0.0 0.0"/>
+      <parent link="${prefix}link_3" />
+    </joint>
+    <joint name="${prefix}joint_a5" type="revolute">
+      <axis xyz="0.0 0.0 1.0" />
+      <child link="${prefix}link_5" />
+      <limit effort="0.0E0" lower="-2.0943951023931953E0" upper="2.0943951023931953E0" velocity="8.001E3"/>
+      <origin rpy="-1.5707963267948963 0.0 -0.0" xyz="0.0 0.0 -0.515"/>
+      <parent link="${prefix}link_4" />
+    </joint>
+    <joint name="${prefix}joint_a6" type="revolute">
+      <axis xyz="0.0 0.0 1.0" />
+      <child link="${prefix}link_6" />
+      <limit effort="5.0E2" lower="-6.1086523819801535E0" upper="6.1086523819801535E0" velocity="8.001E3"/>
+      <origin rpy="1.5707963267948963 0.0 -0.0" xyz="0.0 0.0 0.0"/>
+      <parent link="${prefix}link_5" />
+    </joint>
+
+    <!-- ROS-Industrial 'base' frame - equivalent of 'KUKA ROBROOT'-->
+    <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}link6-flange" type="fixed">
+      <child link="${prefix}flange" />
+      <origin rpy="0 ${pi} -0.0" xyz="0.0 0.0 -0.1605" />
+      <parent link="${prefix}link_6" />
+    </joint>
+
+    <!-- ROS-Industrial 'tool0' frame - all-zeros tool frame -->
+    <link name="${prefix}tool0" />
+    <joint name="${prefix}link6-tool0" type="fixed">
+      <child link="${prefix}tool0" />
+      <origin rpy="0 ${pi} -0.0" xyz="0.0 0.0 -0.1605" />
+      <parent link="${prefix}link_6" />
+    </joint>
+  </xacro:macro>
+</robot>
diff --git a/kuka_kr_moveit_config/CMakeLists.txt b/kuka_kr_moveit_config/CMakeLists.txt
@@ -10,6 +10,7 @@ find_package(xacro REQUIRED)
 set(supported_robots
   kr6_r700_sixx
   kr6_r900_sixx
+  kr10_r1100-2
   kr16_r2010-2
   )