Feature/cybertech support

kuka_cybertech_support/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+
+project(kuka_cybertech_support)
+
+find_package(ament_cmake REQUIRED)
+find_package(urdf REQUIRED)
+find_package(xacro REQUIRED)
+
+install(DIRECTORY config launch meshes urdf
+  DESTINATION share/${PROJECT_NAME})
+
+ament_package()

kuka_cybertech_support/config/cybertech_urdf.rviz

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+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Grid1
+        - /RobotModel1
+        - /RobotModel1/Description Topic1
+        - /TF1
+        - /TF1/Frames1
+        - /TF1/Tree1/base_link1
+        - /TF1/Tree1/base_link1/link_11
+      Splitter Ratio: 0.5
+    Tree Height: 617
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        flange:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        link_6:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        tool0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base:
+          Value: true
+        base_link:
+          Value: true
+        flange:
+          Value: true
+        link_1:
+          Value: true
+        link_2:
+          Value: true
+        link_3:
+          Value: true
+        link_4:
+          Value: true
+        link_5:
+          Value: true
+        link_6:
+          Value: true
+        tool0:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        base_link:
+          base:
+            {}
+          link_1:
+            link_2:
+              link_3:
+                link_4:
+                  link_5:
+                    link_6:
+                      flange:
+                        tool0:
+                          {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: base
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 3.5294711589813232
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.2036915272474289
+        Y: -0.2434246987104416
+        Z: 0.0280955508351326
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.785398006439209
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.785398006439209
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002f4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002f4000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000100000002f4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002f4000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000024e000002f400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 72
+  Y: 60

kuka_cybertech_support/launch/test_kr16r2010-2.launch.py

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+# 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_cybertech_support"),
+                 "urdf", "kr16_r2010-2.urdf.xacro"]
+            ),
+            " ",
+        ]
+    )
+    robot_description = {'robot_description': robot_description_content}
+
+    # RViz
+    rviz_config_file = PathJoinSubstitution([FindPackageShare(
+        'kuka_cybertech_support'), "config", "cybertech_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])

kuka_cybertech_support/package.xml

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+<?xml version="1.0"?>
+<package format="3">
+  <name>kuka_cybertech_support</name>
+  <version>0.0.1</version>
+  <description>Robot models for the KUKA cybertech family.</description>
+  <author>Áron Svastits</author>
+  <maintainer email="svastits1@gmail.com">Áron Svastits</maintainer>
+  <license>BSD</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+
+  <depend>xacro</depend>
+
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>kuka_resources</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz2</exec_depend>
+
+  <export>
+    <architecture_independent/>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

kuka_cybertech_support/urdf/kr16_r2010-2.urdf.xacro

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+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="kr16_r2010-2">
+<!-- Import urdf file  -->
+<xacro:include filename="$(find kuka_cybertech_support)/urdf/kr16_r2010-2_macro.xacro"/>
+
+<!-- Read parameters from rsi_config  -->
+<xacro:property name="rsi_config" value="$(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="${rsi_config_dict['client_port']}" />
+
+<!-- Read additional arguments  -->
+<xacro:arg name="use_fake_hardware" default="false" />
+
+<xacro:kuka_kr16_r2010-2_robot prefix=""
+                  client_ip="${client_ip}" 
+                  client_port="${client_port}" 
+                  use_fake_hardware="$(arg use_fake_hardware)"/>
+</robot>