Create unified structure for all support packages

README.md

@@ -1,10 +1,10 @@
 # kuka_robot_descriptions
 
-This package contains resources that can be used with real KUKA robots as well as with simulations.
+This package contains support packages that can be used with real KUKA robots as well as with simulations.
 
 Github CI 
 ------------
-[![Build Status](https://github.com/kroshu/kuka_simulators/workflows/CI/badge.svg?branch=main)](https://github.com/kroshu/kuka_simulators/actions)
+[![Build Status](https://github.com/kroshu/kuka_robot_descriptions/workflows/CI/badge.svg?branch=main)](https://github.com/kroshu/kuka_robot_descriptions/actions)
 
 ## What is included?
 
@@ -14,7 +14,7 @@ Github CI
 - **kuka_lbr_iisy_support** contains urdf, config and mesh files for KUKA iisy robots.
 - **kuka_lbr_iisy_moveit_config** contains configuration files for KUKA iisy robots necessary for planning with moveit.
 - **kuka_agilus_support** contains urdf, config and mesh files for KUKA Agilus robots, it is copied from [kuka_experimental](https://github.com/ros-industrial/kuka_experimental) and ported to ROS2.
-- **kuka_lbr_iiwa7_support** contains urdf, config and mesh files for KUKA LBR iiwa 7 robots
+- **kuka_lbr_iiwa_support** contains urdf, config and mesh files for KUKA LBR iiwa 7 robots
 - **kuka_rsi_simulator** implements a basic RSI simulator. It is also copied from [kuka_experimental](https://github.com/ros-industrial/kuka_experimental) and is ported to ROS2. It implements a UDP socket, and recieves the commands from an RSI interface and sends back the actual position of the robot (as it is a simulation, it is a simple closed loop, it sends what it recieved).
 
 ## Running the RSI simulator

kuka_agilus_support/launch/test_kr6r700sixx.launch.py → kuka_agilus_support/launch/test_kr6_r700-sixx.launch.py

@@ -25,16 +25,17 @@ def generate_launch_description():
             " ",
             PathJoinSubstitution(
                 [FindPackageShare("kuka_agilus_support"),
-                 "urdf", "kr6_r700_sixx.urdf.xacro"]
+                 "urdf", "kr6_r700-sixx.urdf.xacro"]
             ),
             " ",
+            "use_fake_hardware:=true",
         ]
     )
     robot_description = {'robot_description': robot_description_content}
 
     # RViz
     rviz_config_file = PathJoinSubstitution([FindPackageShare(
-        'kuka_agilus_support'), "config", "agilus_urdf.rviz"])
+        'kuka_resources'), "config", "view_6_axis_urdf.rviz"])
     rviz_node = Node(package='rviz2',
                      executable='rviz2',
                      name='rviz2_launch',

kuka_agilus_support/launch/test_kr6r900sixx.launch.py → kuka_agilus_support/launch/test_kr6_r900-sixx.launch.py

@@ -25,16 +25,17 @@ def generate_launch_description():
             " ",
             PathJoinSubstitution(
                 [FindPackageShare("kuka_agilus_support"),
-                 "urdf", "kr6_r700_sixx.urdf.xacro"]
+                 "urdf", "kr6_r700-sixx.urdf.xacro"]
             ),
             " ",
+            "use_fake_hardware:=true",
         ]
     )
     robot_description = {'robot_description': robot_description_content}
 
     # RViz
     rviz_config_file = PathJoinSubstitution([FindPackageShare(
-        'kuka_agilus_support'), "config", "agilus_urdf.rviz"])
+        'kuka_resources'), "config", "view_6_axis_urdf.rviz"])
     rviz_node = Node(package='rviz2',
                      executable='rviz2',
                      name='rviz2_launch',

kuka_agilus_support/urdf/kr6_r700-sixx.urdf.xacro

@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="kr6_r700-sixx">
+  <!-- Import urdf file  -->
+  <xacro:include filename="$(find kuka_agilus_support)/urdf/kr6_r700-sixx_macro.xacro"/>
+
+  <!-- Read additional arguments  -->
+  <xacro:arg name="use_fake_hardware" default="false" />
+
+  <xacro:kuka_kr6_r700-sixx_robot prefix=""  use_fake_hardware="$(arg use_fake_hardware)"/>
+</robot>