Feature/quantec

kuka_kr_moveit_config/CMakeLists.txt

@@ -11,6 +11,8 @@ set(supported_robots
   kr6_r700_sixx
   kr6_r900_sixx
   kr16_r2010-2
+  kr210-r2700-2
+  kr210-r3100-2
   )
 
 foreach(model IN LISTS supported_robots)

kuka_kr_moveit_config/srdf/kr_arm_macro.xacro

@@ -14,10 +14,10 @@
       <link name="${prefix}tool0"/>
     </group>
     <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
-    <group_state name="null_pos" group="${prefix}kr_arm">
+    <group_state name="home" 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" />
+      <joint name="${prefix}joint_a2" value="${-pi/2}" />
+      <joint name="${prefix}joint_a3" value="${pi/2}" />
       <joint name="${prefix}joint_a4" value="0" />
       <joint name="${prefix}joint_a5" value="0" />
       <joint name="${prefix}joint_a6" value="0" />

kuka_quantec_support/CMakeLists.txt

@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(kuka_quantec_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_quantec_support/config/kr210_r2700-2_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: 2.0944
+    has_acceleration_limits: false
+    has_jerk: false
+  joint_a2:
+    has_velocity_limits: true
+    max_velocity: 2.0071
+    has_acceleration_limits: false
+    has_jerk: false
+  joint_a3:
+    has_velocity_limits: true
+    max_velocity: 1.9548
+    has_acceleration_limits: false
+    has_jerk: false
+  joint_a4:
+    has_velocity_limits: true
+    max_velocity: 3.1241
+    has_acceleration_limits: false
+    has_jerk: false
+  joint_a5:
+    has_velocity_limits: true
+    max_velocity: 3.0000
+    has_acceleration_limits: false
+    has_jerk: false
+  joint_a6:
+    has_velocity_limits: true
+    max_velocity: 3.8397
+    has_acceleration_limits: false
+    has_jerk: false

kuka_quantec_support/config/kr210_r3100-2_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: 1.8326
+    has_acceleration_limits: false
+    has_jerk: false
+  joint_a2:
+    has_velocity_limits: true
+    max_velocity: 1.6406
+    has_acceleration_limits: false
+    has_jerk: false
+  joint_a3:
+    has_velocity_limits: true
+    max_velocity: 1.7453
+    has_acceleration_limits: false
+    has_jerk: false
+  joint_a4:
+    has_velocity_limits: true
+    max_velocity: 2.3726
+    has_acceleration_limits: false
+    has_jerk: false
+  joint_a5:
+    has_velocity_limits: true
+    max_velocity: 2.2460
+    has_acceleration_limits: false
+    has_jerk: false
+  joint_a6:
+    has_velocity_limits: true
+    max_velocity: 3.5933
+    has_acceleration_limits: false
+    has_jerk: false

kuka_quantec_support/config/quantec_urdf.rviz

@@ -0,0 +1,245 @@
+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