add kuka_kr16_support

kuka_kr16_support/CMakeLists.txt

@@ -1,17 +1,16 @@
-cmake_minimum_required(VERSION 3.16)
+cmake_minimum_required(VERSION 3.5)
 
-project(kuka_kr16_support LANGUAGES CXX)
-
-if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
- add_compile_options(-Wall -Wextra)
-endif()
+project(kuka_kr16_support)
 
 find_package(ament_cmake REQUIRED)
 
+if (CATKIN_ENABLE_TESTING)
+ find_package(roslaunch REQUIRED)
+ roslaunch_add_file_check(test/roslaunch_test.xml)
+endif()
 
-install(
- DIRECTORY config launch meshes urdf
+install(DIRECTORY config launch meshes urdf
  DESTINATION share/${PROJECT_NAME}
- )
+)
 
- ament_package()
+ament_package()

kuka_kr16_support/config/rviz/view_robot_kr16_2.rviz

@@ -0,0 +1,249 @@
+Panels:
+ - Class: rviz_common/Displays
+ Help Height: 78
+ Name: Displays
+ Property Tree Widget:
+ Expanded: ~
+ Splitter Ratio: 0.5
+ Tree Height: 745
+ - 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
+ - Class: rviz_common/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: ""
+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
+ - 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
+ - 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
+ Mass Properties:
+ Inertia: false
+ Mass: false
+ Name: RobotModel
+ TF Prefix: ""
+ Update Interval: 0
+ Value: true
+ Visual Enabled: 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
+ Covariance x: 0.25
+ Covariance y: 0.25
+ Covariance yaw: 0.06853891909122467
+ 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: 4.382266521453857
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: 0.4607224464416504
+ Y: 0.24497589468955994
+ Z: 0.1281789243221283
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.155398428440094
+ Target Frame: <Fixed Frame>
+ Value: Orbit (rviz)
+ Yaw: 5.303589820861816
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 1036
+ Hide Left Dock: false
+ Hide Right Dock: false
+ QMainWindow State: 000000ff00000000fd00000004000000000000015600000372fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000372000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000372fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003b00000372000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000077c0000003efc0100000002fb0000000800540069006d006501000000000000077c0000025300fffffffb0000000800540069006d006501000000000000045000000000000000000000050b0000037200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1916
+ X: 0
+ Y: 20

kuka_kr16_support/launch/load_kr16_2.launch

@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<launch>
+ <!-- Load robot description to parameter server -->
+ <param name="robot_description" command="$(find xacro)/xacro '$(find kuka_kr16_support)/urdf/kr16_2.xacro'"/>
+</launch>

kuka_kr16_support/launch/test_kr16_2.launch

@@ -0,0 +1,9 @@
+<?xml version="1.0"?>
+<launch>
+ <include file="$(find kuka_kr16_support)/launch/load_kr16_2.launch" />
+ <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+ <param name="use_gui" value="true" />
+ </node>
+ <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+ <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>

kuka_kr16_support/launch/view_kr16_2.launch.py

@@ -0,0 +1,71 @@
+# Copyright 2021 Stogl Robotics Consulting UG (haftungsbeschränkt)
+#
+# 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.actions import RegisterEventHandler
+from launch.event_handlers import OnProcessExit
+from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
+
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+
+ # Get URDF via xacro
+ robot_description_content = Command(
+ [
+ PathJoinSubstitution([FindExecutable(name="xacro")]),
+ " ",
+ PathJoinSubstitution(
+ [FindPackageShare("kuka_kr16_support"), "urdf",
+ "kr16_2.xacro"]
+ ),
+ ]
+ )
+
+ robot_description = {"robot_description": robot_description_content}
+
+ joint_state_publisher_node = Node(
+ package="joint_state_publisher_gui",
+ executable="joint_state_publisher_gui",
+ )
+
+ robot_state_publisher_node = Node(
+ package="robot_state_publisher",
+ executable="robot_state_publisher",
+ output="both",
+ parameters=[robot_description],
+ )
+
+ rviz_config_file = PathJoinSubstitution(
+ [FindPackageShare("kuka_kr16_support"), "config/rviz",
+ "view_robot_kr16_2.rviz"]
+ )
+
+ rviz_node = Node(
+ package="rviz2",
+ executable="rviz2",
+ name="rviz2",
+ output="log",
+ arguments=["-d", rviz_config_file]
+ )
+
+ nodes = [
+ joint_state_publisher_node,
+ robot_state_publisher_node,
+ rviz_node
+ ]
+
+ return LaunchDescription(nodes)

kuka_kr16_support/package.xml

@@ -1,5 +1,4 @@
 <?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
  <name>kuka_kr16_support</name>
  <version>0.1.0</version>
@@ -40,14 +39,7 @@
 
  <buildtool_depend>ament_cmake</buildtool_depend>
 
- <test_depend>roslaunch</test_depend>
-
- <exec_depend>industrial_robot_client</exec_depend>
- <exec_depend>joint_state_publisher</exec_depend>
  <exec_depend>kuka_resources</exec_depend>
- <exec_depend>robot_state_publisher</exec_depend>
- <exec_depend>rviz</exec_depend>
- <exec_depend>xacro</exec_depend>
 
  <export>
  <build_type>ament_cmake</build_type>