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Adding kuka210r3100 robot foxy #23

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Adding kuka210r3100 robot foxy #23

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21812bc
adding kr210r3100 related files
Mar 10, 2023
183fec6
including kr210r300 and other missing
Mar 10, 2023
a15d17a
added missing options
Mar 11, 2023
071fc83
removing sim support package for now
Mar 11, 2023
7baa196
added mesh folder for kr210r3100
Apr 4, 2023
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10 changes: 7 additions & 3 deletions README.md
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Expand Up @@ -92,7 +92,7 @@ ROS2 Distro | Branch | Build status | Documentation | Released packages
# launches only robot model with Joint state publisher GUI
ros2 launch kuka_kr3_support test_kr3r540.launch.py

# possible arguments for the following launch file are as follows:
# possible arguments for the following launch file are as follows:

"robot_description_package",
choices=[
Expand All @@ -105,7 +105,7 @@ ROS2 Distro | Branch | Build status | Documentation | Released packages
"kuka_kr150_support",
"kuka_kr210_support",
]

"robot_description_macro_file",
choices=[
"kr3r540_macro.xacro",
Expand All @@ -121,6 +121,8 @@ ROS2 Distro | Branch | Build status | Documentation | Released packages
"kr150_2_macro.xacro",
"kr150r3100_2_macro.xacro",
"kr210l150_macro.xacro",
"kr210r3100_macro.xacro",
"lbr_iiwa_14_r820_macro.xacro",
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@muritane muritane Mar 16, 2023 •
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why is this "lbr_iiwa_14_r820_macro.xacro" here? it is a little bit confusing as the pr name is only about adding kuka210r3100 (maybe it is just pedantic)

]
"robot_name",
choices=[
Expand All @@ -137,6 +139,8 @@ ROS2 Distro | Branch | Build status | Documentation | Released packages
"kuka_kr150_2",
"kuka_kr150r3100_2",
"kuka_kr210l150",
"kuka_kr210r3100",
"kuka_lbr_iiwa_14_r820",
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same as above

]
"controllers_file",
choices=[
Expand All @@ -155,4 +159,4 @@ ROS2 Distro | Branch | Build status | Documentation | Released packages

# launches robot model with ros2_control support and gazebo simulator for "kuka_kr16_2" robot
ros2 launch kuka_ros2_control_sim_support test_common_gazebo_sim_ros2_control.launch.py robot_description_package:=kuka_kr16_support robot_description_macro_file:=kr16_2_macro.xacro robot_name:=kuka_kr16_2 controllers_file:=kuka_6dof_controllers.yaml
```
```
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233 changes: 233 additions & 0 deletions kuka_kr210_support/urdf/kr210r3100.urdf
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from kr210r3100.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="kuka_kr210">
<!-- links -->
<link name="base_link">
<inertial>
<origin rpy="0 0 0" xyz="-0.11679684267239988 0.000930569464110783 0.11527547215411776"/>
<mass value="559.015034572722"/>
<inertia ixx="14.115944" ixy="0.227734" ixz="2.942609" iyy="29.220456" iyz="-0.019714" izz="36.740034"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file:///home/giridharv/install/kuka_kr210_support/share/kuka_kr210_support/meshes/kr210r3100/visual/base_link.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="file:///home/giridharv/install/kuka_kr210_support/share/kuka_kr210_support/meshes/kr210r3100/collision/base_link.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="link_1">
<inertial>
<origin rpy="0 0 0" xyz="-0.051293985883457974 -0.016100728932733975 0.24358671689243275"/>
<mass value="641.9952770003224"/>
<inertia ixx="23.28132" ixy="-3.876946" ixz="3.392799" iyy="38.470516" iyz="1.247398" izz="35.359261"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///home/giridharv/install/kuka_kr210_support/share/kuka_kr210_support/meshes/kr210r3100/visual/l1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///home/giridharv/install/kuka_kr210_support/share/kuka_kr210_support/meshes/kr210r3100/collision/l1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="link_2">
<inertial>
<origin rpy="0 0 0" xyz="0.5525579788462762 -0.20117297897412317 -0.0012439878558074824"/>
<mass value="881.9229270319727"/>
<inertia ixx="23.656804" ixy="10.1437" ixz="-0.654405" iyy="249.415174" iyz="-0.074947" izz="261.229221"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///home/giridharv/install/kuka_kr210_support/share/kuka_kr210_support/meshes/kr210r3100/visual/l2_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///home/giridharv/install/kuka_kr210_support/share/kuka_kr210_support/meshes/kr210r3100/collision/l2_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="link_3">
<inertial>
<origin rpy="0 0 0" xyz="0.40113692670924617 0.09903913096749664 0.11933441692607738"/>
<mass value="486.9958150524646"/>
<inertia ixx="4.549686" ixy="-0.798513" ixz="1.680031" iyy="78.154293" iyz="-0.236711" izz="78.434222"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///home/giridharv/install/kuka_kr210_support/share/kuka_kr210_support/meshes/kr210r3100/visual/l3_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///home/giridharv/install/kuka_kr210_support/share/kuka_kr210_support/meshes/kr210r3100/collision/l3_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="link_4">
<inertial>
<origin rpy="0 0 0" xyz="0.18467307685142398 0.004490481023792502 8.438804702359803e-06"/>
<mass value="39.6680434352628"/>
<inertia ixx="0.09658" ixy="-0.031784" ixz="0.000837" iyy="0.69817" iyz="-4e-06" izz="0.696467"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///home/giridharv/install/kuka_kr210_support/share/kuka_kr210_support/meshes/kr210r3100/visual/l4_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///home/giridharv/install/kuka_kr210_support/share/kuka_kr210_support/meshes/kr210r3100/collision/l4_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="link_5">
<inertial>
<origin rpy="0 0 0" xyz="0.05762714897611465 -0.012624478869733204 -2.736635066713511e-05"/>
<mass value="78.51538422789798"/>
<inertia ixx="0.773476" ixy="0.230722" ixz="9.7e-05" iyy="0.796478" iyz="9.4e-05" izz="1.122301"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///home/giridharv/install/kuka_kr210_support/share/kuka_kr210_support/meshes/kr210r3100/visual/l5_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///home/giridharv/install/kuka_kr210_support/share/kuka_kr210_support/meshes/kr210r3100/collision/l5_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="link_6">
<inertial>
<origin rpy="0 0 0" xyz="0.02169435909842532 -1.3980071648605966e-05 5.2250469270931355e-05"/>
<mass value="6.586106550753541"/>
<inertia ixx="0.032807" ixy="-1e-06" ixz="-1e-06" iyy="0.017048" iyz="0.0" izz="0.017012"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///home/giridharv/install/kuka_kr210_support/share/kuka_kr210_support/meshes/kr210r3100/visual/l6_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="">
<color rgba="0.75294 0.75294 0.75294 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<geometry>
<mesh filename="file:///home/giridharv/install/kuka_kr210_support/share/kuka_kr210_support/meshes/kr210r3100/collision/l6_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<!-- This frame corresponds to the $TOOL coordinate system in KUKA KRC controllers. -->
<link name="flange"/>
<!-- joints -->
<joint name="joint_a1" type="revolute">
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<parent link="base_link"/>
<child link="link_1"/>
<axis xyz="0 0 -1"/>
<limit effort="0" lower="-3.2288591161895095" upper="3.2288591161895095" velocity="0.5497787143782138"/>
</joint>
<joint name="joint_a2" type="revolute">
<origin rpy="0 1.5707963267948966 0" xyz="0.33 0.010 0.4094"/>
<parent link="link_1"/>
<child link="link_2"/>
<axis xyz="0 1 0"/>
<limit effort="0" lower="-2.443460952792061" upper="-0.08726646259971647" velocity="0.49218284906240095"/>
</joint>
<joint name="joint_a3" type="revolute">
<origin rpy="0 -1.5707963267948966 0" xyz="3e-05 -0.115 1.35"/>
<parent link="link_2"/>
<child link="link_3"/>
<axis xyz="0 1 0"/>
<limit effort="0" lower="-2.0943951023931953" upper="2.9321531433504737" velocity="0.5235987755982988"/>
</joint>
<joint name="joint_a4" type="revolute">
<origin rpy="0 0 0" xyz="1.0685 0.105 0.115"/>
<parent link="link_3"/>
<child link="link_4"/>
<axis xyz="1 0 0"/>
<limit effort="0" lower="-6.1086523819801535" upper="6.1086523819801535" velocity="0.7120943348136864"/>
</joint>
<joint name="joint_a5" type="revolute">
<origin rpy="0 0 0" xyz="0.3515 0.059 0.0"/>
<parent link="link_4"/>
<child link="link_5"/>
<axis xyz="0 1 0"/>
<limit effort="0" lower="-2.129301687433082" upper="2.129301687433082" velocity="0.6754424205218055"/>
</joint>
<joint name="joint_a6" type="revolute">
<origin rpy="0 0 0" xyz="0.2001 -0.058987 0.0"/>
<parent link="link_5"/>
<child link="link_6"/>
<axis xyz="-1 0 0"/>
<limit effort="0" lower="-6.1086523819801535" upper="6.1086523819801535" velocity="1.0786134777324956"/>
</joint>
<joint name="link_6-flange" type="fixed">
<parent link="link_6"/>
<child link="flange"/>
<origin rpy="0 0 0" xyz="0.0375 0 -0.00023924"/>
</joint>
<!-- ROS base_link to KUKA $ROBROOT coordinate system transform -->
<link name="base"/>
<joint name="base_link-base" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="base_link"/>
<child link="base"/>
</joint>
<!-- This frame corresponds to the $TOOL coordinate system in KUKA KRC controllers -->
<link name="tool0"/>
<joint name="flange-tool0" type="fixed">
<parent link="flange"/>
<child link="tool0"/>
<origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
</joint>
<!-- rename 'Link1' to 'link_1', maintain bw-compatibility -->
<link name="Link1"/>
<joint name="Link1-link_1" type="fixed">
<parent link="link_1"/>
<child link="Link1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
</robot>
8 changes: 8 additions & 0 deletions kuka_kr210_support/urdf/kr210r3100.xacro
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<?xml version="1.0" ?>
<robot name="kuka_kr210" xmlns:xacro="http://wiki.ros.org/xacro">
<xacro:arg name="prefix" default="" />

<xacro:include filename="$(find kuka_kr210_support)/urdf/kr210r3100_macro.xacro"/>

<xacro:kuka_kr210r3100 prefix=""/>
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should the prefix arg be used here?
<xacro:kuka_kr210r3100 prefix="$(arg prefix)"/>

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Suggested change
<xacro:kuka_kr210r3100 prefix=""/>
<xacro:kuka_kr210r3100 prefix="$(arg prefix)"/>

</robot>
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