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Adding kuka210r3100 robot foxy #23

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10 changes: 7 additions & 3 deletions README.md
Original file line number Diff line number Diff line change
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
```
```
233 changes: 233 additions & 0 deletions kuka_kr210_support/urdf/kr210r3100.urdf
Original file line number Diff line number Diff line change
@@ -0,0 +1,233 @@
<?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
Original file line number Diff line number Diff line change
@@ -0,0 +1,8 @@
<?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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