From ff604a07a4aafefbe324af29a8be86d10be684ca Mon Sep 17 00:00:00 2001
From: Aron Svastits <svastits1@gmail.com>
Date: Tue, 1 Aug 2023 10:49:43 +0200
Subject: [PATCH] add general kr support package for moveit

---
 .../config/kr6_r700_sixx_joint_limits.yaml    | 38 +++++++++++++++++
 .../config/kr6_r900_sixx_joint_limits.yaml    | 38 +++++++++++++++++
 .../config/kr16_r2010-2_joint_limits.yaml     | 41 +++++++++++++++++++
 .../CMakeLists.txt                            |  4 +-
 .../config/kinematics.yaml                    |  2 +-
 .../config/moveit_controllers.yaml            |  0
 .../config/pilz_cartesian_limits.yaml         |  0
 .../config/urdf_planning_scene.rviz           |  0
 .../package.xml                               |  4 +-
 .../srdf/kr_arm.srdf.xacro                    |  8 ++--
 .../srdf/kr_arm_macro.xacro                   | 19 ++++-----
 11 files changed, 135 insertions(+), 19 deletions(-)
 create mode 100644 kuka_agilus_support/config/kr6_r700_sixx_joint_limits.yaml
 create mode 100644 kuka_agilus_support/config/kr6_r900_sixx_joint_limits.yaml
 create mode 100644 kuka_cybertech_support/config/kr16_r2010-2_joint_limits.yaml
 rename {kuka_cybertech_moveit_config => kuka_kr_moveit_config}/CMakeLists.txt (56%)
 rename {kuka_cybertech_moveit_config => kuka_kr_moveit_config}/config/kinematics.yaml (90%)
 rename {kuka_cybertech_moveit_config => kuka_kr_moveit_config}/config/moveit_controllers.yaml (100%)
 rename {kuka_cybertech_moveit_config => kuka_kr_moveit_config}/config/pilz_cartesian_limits.yaml (100%)
 rename {kuka_cybertech_moveit_config => kuka_kr_moveit_config}/config/urdf_planning_scene.rviz (100%)
 rename {kuka_cybertech_moveit_config => kuka_kr_moveit_config}/package.xml (88%)
 rename kuka_cybertech_moveit_config/srdf/kr16_r2010-2_arm.srdf.xacro => kuka_kr_moveit_config/srdf/kr_arm.srdf.xacro (55%)
 rename kuka_cybertech_moveit_config/srdf/cybertech_arm.macro.xacro => kuka_kr_moveit_config/srdf/kr_arm_macro.xacro (74%)

diff --git a/kuka_agilus_support/config/kr6_r700_sixx_joint_limits.yaml b/kuka_agilus_support/config/kr6_r700_sixx_joint_limits.yaml
new file mode 100644
index 0000000..ce89cea
--- /dev/null
+++ b/kuka_agilus_support/config/kr6_r700_sixx_joint_limits.yaml
@@ -0,0 +1,38 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration, max_jerk]
+# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
+
+# Easiest way to slow down the robot is to decrease the velocity and acceleration scaling factors
+default_velocity_scaling_factor: 1.0
+default_acceleration_scaling_factor: 1.0
+joint_limits:
+  joint_a1:
+    has_velocity_limits: true
+    max_velocity: 6.283185
+    has_acceleration_limits: false
+    has_jerk: false
+  joint_a2:
+    has_velocity_limits: true
+    max_velocity: 5.23599
+    has_acceleration_limits: false
+    has_jerk: false
+  joint_a3:
+    has_velocity_limits: true
+    max_velocity: 6.283185
+    has_acceleration_limits: false
+    has_jerk: false
+  joint_a4:
+    has_velocity_limits: true
+    max_velocity: 6.64970
+    has_acceleration_limits: false
+    has_jerk: false
+  joint_a5:
+    has_velocity_limits: true
+    max_velocity: 6.77188
+    has_acceleration_limits: false
+    has_jerk: false
+  joint_a6:
+    has_velocity_limits: true
+    max_velocity: 10.73377
+    has_acceleration_limits: false
+    has_jerk: false
diff --git a/kuka_agilus_support/config/kr6_r900_sixx_joint_limits.yaml b/kuka_agilus_support/config/kr6_r900_sixx_joint_limits.yaml
new file mode 100644
index 0000000..ce89cea
--- /dev/null
+++ b/kuka_agilus_support/config/kr6_r900_sixx_joint_limits.yaml
@@ -0,0 +1,38 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration, max_jerk]
+# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
+
+# Easiest way to slow down the robot is to decrease the velocity and acceleration scaling factors
+default_velocity_scaling_factor: 1.0
+default_acceleration_scaling_factor: 1.0
+joint_limits:
+  joint_a1:
+    has_velocity_limits: true
+    max_velocity: 6.283185
+    has_acceleration_limits: false
+    has_jerk: false
+  joint_a2:
+    has_velocity_limits: true
+    max_velocity: 5.23599
+    has_acceleration_limits: false
+    has_jerk: false
+  joint_a3:
+    has_velocity_limits: true
+    max_velocity: 6.283185
+    has_acceleration_limits: false
+    has_jerk: false
+  joint_a4:
+    has_velocity_limits: true
+    max_velocity: 6.64970
+    has_acceleration_limits: false
+    has_jerk: false
+  joint_a5:
+    has_velocity_limits: true
+    max_velocity: 6.77188
+    has_acceleration_limits: false
+    has_jerk: false
+  joint_a6:
+    has_velocity_limits: true
+    max_velocity: 10.73377
+    has_acceleration_limits: false
+    has_jerk: false
diff --git a/kuka_cybertech_support/config/kr16_r2010-2_joint_limits.yaml b/kuka_cybertech_support/config/kr16_r2010-2_joint_limits.yaml
new file mode 100644
index 0000000..f4241fb
--- /dev/null
+++ b/kuka_cybertech_support/config/kr16_r2010-2_joint_limits.yaml
@@ -0,0 +1,41 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration, max_jerk]
+# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
+
+# The default config of moveit does not take into account the jerk limits, the RuckigTrajectorySmoothing adapter must be
+# added to the planning pipeline to support jerk limits # TODO: check if jerk dimensions are ok!!
+
+# Easiest way to slow down the robot is to decrease the velocity and acceleration scaling factors
+default_velocity_scaling_factor: 1.0
+default_acceleration_scaling_factor: 1.0
+joint_limits:
+  joint_a1:
+    has_velocity_limits: true
+    max_velocity: 3.490656
+    has_acceleration_limits: false
+    has_jerk: false
+  joint_a2:
+    has_velocity_limits: true
+    max_velocity: 3.05432
+    has_acceleration_limits: false
+    has_jerk: false
+  joint_a3:
+    has_velocity_limits: true
+    max_velocity: 3.31613
+    has_acceleration_limits: false
+    has_jerk: false
+  joint_a4:
+    has_velocity_limits: true
+    max_velocity: 7.50492
+    has_acceleration_limits: false
+    has_jerk: false
+  joint_a5:
+    has_velocity_limits: true
+    max_velocity: 7.50492
+    has_acceleration_limits: false
+    has_jerk: false
+  joint_a6:
+    has_velocity_limits: true
+    max_velocity: 10.99557
+    has_acceleration_limits: false
+    has_jerk: false
diff --git a/kuka_cybertech_moveit_config/CMakeLists.txt b/kuka_kr_moveit_config/CMakeLists.txt
similarity index 56%
rename from kuka_cybertech_moveit_config/CMakeLists.txt
rename to kuka_kr_moveit_config/CMakeLists.txt
index ac4f33d..5ca49cf 100644
--- a/kuka_cybertech_moveit_config/CMakeLists.txt
+++ b/kuka_kr_moveit_config/CMakeLists.txt
@@ -1,12 +1,12 @@
 cmake_minimum_required(VERSION 3.5)
 
-project(kuka_cybertech_moveit_config)
+project(kuka_kr_moveit_config)
 
 find_package(ament_cmake REQUIRED)
 find_package(urdf REQUIRED)
 find_package(xacro REQUIRED)
 
-xacro_add_files(TARGET kr16r2010-2 srdf/kr16_r2010-2_arm.srdf.xacro OUTPUT kr16_r2010-2_arm.srdf INSTALL DESTINATION urdf)
+xacro_add_files(TARGET kr_arm srdf/kr_arm.srdf.xacro OUTPUT kr_arm.srdf INSTALL DESTINATION urdf)
 
 install(DIRECTORY config
   DESTINATION share/${PROJECT_NAME})
diff --git a/kuka_cybertech_moveit_config/config/kinematics.yaml b/kuka_kr_moveit_config/config/kinematics.yaml
similarity index 90%
rename from kuka_cybertech_moveit_config/config/kinematics.yaml
rename to kuka_kr_moveit_config/config/kinematics.yaml
index bba62b5..69af1fd 100644
--- a/kuka_cybertech_moveit_config/config/kinematics.yaml
+++ b/kuka_kr_moveit_config/config/kinematics.yaml
@@ -1,4 +1,4 @@
-cybertech_arm:
+kr_arm:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.005
   kinematics_solver_timeout: 0.05
diff --git a/kuka_cybertech_moveit_config/config/moveit_controllers.yaml b/kuka_kr_moveit_config/config/moveit_controllers.yaml
similarity index 100%
rename from kuka_cybertech_moveit_config/config/moveit_controllers.yaml
rename to kuka_kr_moveit_config/config/moveit_controllers.yaml
diff --git a/kuka_cybertech_moveit_config/config/pilz_cartesian_limits.yaml b/kuka_kr_moveit_config/config/pilz_cartesian_limits.yaml
similarity index 100%
rename from kuka_cybertech_moveit_config/config/pilz_cartesian_limits.yaml
rename to kuka_kr_moveit_config/config/pilz_cartesian_limits.yaml
diff --git a/kuka_cybertech_moveit_config/config/urdf_planning_scene.rviz b/kuka_kr_moveit_config/config/urdf_planning_scene.rviz
similarity index 100%
rename from kuka_cybertech_moveit_config/config/urdf_planning_scene.rviz
rename to kuka_kr_moveit_config/config/urdf_planning_scene.rviz
diff --git a/kuka_cybertech_moveit_config/package.xml b/kuka_kr_moveit_config/package.xml
similarity index 88%
rename from kuka_cybertech_moveit_config/package.xml
rename to kuka_kr_moveit_config/package.xml
index 1146106..abf2631 100644
--- a/kuka_cybertech_moveit_config/package.xml
+++ b/kuka_kr_moveit_config/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
-  <name>kuka_cybertech_moveit_config</name>
+  <name>kuka_kr_moveit_config</name>
   <version>0.1.0</version>
-  <description>Package containing moveit configuration for KUKA Cybertech robots</description>
+  <description>Package containing moveit configuration for KUKA KR robots</description>
   <author>Aron Svastits</author>
   <maintainer email="svastits1@gmail.com"></maintainer>
   <license>BSD</license>
diff --git a/kuka_cybertech_moveit_config/srdf/kr16_r2010-2_arm.srdf.xacro b/kuka_kr_moveit_config/srdf/kr_arm.srdf.xacro
similarity index 55%
rename from kuka_cybertech_moveit_config/srdf/kr16_r2010-2_arm.srdf.xacro
rename to kuka_kr_moveit_config/srdf/kr_arm.srdf.xacro
index 4d86655..fba0458 100644
--- a/kuka_cybertech_moveit_config/srdf/kr16_r2010-2_arm.srdf.xacro
+++ b/kuka_kr_moveit_config/srdf/kr_arm.srdf.xacro
@@ -3,7 +3,9 @@
     This is a format for representing semantic information about the robot structure.
     A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
 -->
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="kuka_kr16_r2010-2">
-  <xacro:include filename="cybertech_arm.macro.xacro" />
-  <xacro:kuka_cybertech_arm prefix=""/>
+
+<!--TODO(Svastits): add an argument for the robot name instead of kr, as srdf model parsers logs an error now-->
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="kr">
+  <xacro:include filename="kr_arm_macro.xacro" />
+  <xacro:kuka_kr_arm prefix=""/>
 </robot>
diff --git a/kuka_cybertech_moveit_config/srdf/cybertech_arm.macro.xacro b/kuka_kr_moveit_config/srdf/kr_arm_macro.xacro
similarity index 74%
rename from kuka_cybertech_moveit_config/srdf/cybertech_arm.macro.xacro
rename to kuka_kr_moveit_config/srdf/kr_arm_macro.xacro
index b1c78fd..a7b3f6f 100644
--- a/kuka_cybertech_moveit_config/srdf/cybertech_arm.macro.xacro
+++ b/kuka_kr_moveit_config/srdf/kr_arm_macro.xacro
@@ -1,20 +1,20 @@
 <?xml version="1.0" ?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:macro name="kuka_cybertech_arm" params="prefix">
+  <xacro:macro name="kuka_kr_arm" params="prefix">
     <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
     <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
     <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
     <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
     <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
-    <group name="cybertech_arm">
-      <chain base_link="${prefix}base_link" tip_link="${prefix}flange" />
+    <group name="${prefix}kr_arm">
+      <chain base_link="${prefix}base_link" tip_link="${prefix}tool0" />
     </group>
-    <!--Add flange as end effector to be able to use moveit_visual_tools for visualising end effector path-->
-    <group name="end_effector">
-      <link name="${prefix}flange"/>
+    <!--Add tool0 as end effector to be able to use moveit_visual_tools for visualising end effector path-->
+    <group name="${prefix}end_effector">
+      <link name="${prefix}tool0"/>
     </group>
     <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
-    <group_state name="null_pos" group="cybertech_arm">
+    <group_state name="null_pos" group="${prefix}kr_arm">
       <joint name="${prefix}joint_a1" value="0" />
       <joint name="${prefix}joint_a2" value="0" />
       <joint name="${prefix}joint_a3" value="0" />
@@ -23,11 +23,8 @@
       <joint name="${prefix}joint_a6" value="0" />
     </group_state>
 
-    <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
-    <!-- <virtual_joint name="world_joint" type="fixed" parent_frame="world" child_link="base_link" /> -->
-
     <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
-    <end_effector name="flange" parent_link="${prefix}flange" group="end_effector" parent_group="cybertech_arm"/>
+    <end_effector name="${prefix}eef" parent_link="${prefix}tool0" group="${prefix}end_effector" parent_group="${prefix}kr_arm"/>
     <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
     <disable_collisions link1="${prefix}base_link_inertia" link2="${prefix}link_1" reason="Adjacent"/>
     <disable_collisions link1="${prefix}link_1" link2="${prefix}link_2" reason="Adjacent"/>