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Fix for issue #4: misc cleanup of KR 210 L150 support pkg #25

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merged 7 commits into from
Mar 11, 2016
Merged

Fix for issue #4: misc cleanup of KR 210 L150 support pkg #25

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2bb38be
kr210l150: remove redundant STLs.
gavanderhoorn Jul 18, 2015
d6816d3
kr210l150: reformat xacro macro (no structural changes).
gavanderhoorn Jul 18, 2015
105838a
kr210l150: rename 'Link1' to 'link_1'.
gavanderhoorn Jul 18, 2015
fe25db9
kr210l150: make top-level xacro adhere to style guide.
gavanderhoorn Jul 18, 2015
6aaf7f2
kr210l150: convert test launch file to 'new style'.
gavanderhoorn Jul 18, 2015
fbf0867
kr210l150: link to datasheet in manifest, warn about incorrect inerti…
gavanderhoorn Jul 18, 2015
c3fc5ab
kr210: cleanup. Fix #4.
gavanderhoorn Mar 11, 2016
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5 changes: 3 additions & 2 deletions kuka_kr210_support/launch/test_kr210l150.launch
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@@ -1,7 +1,8 @@
<launch>
<include file="$(find kuka_kr210_support)/launch/load_kr210l150.launch" />
<param name="use_gui" value="true" />
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
<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>
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6 changes: 4 additions & 2 deletions kuka_kr210_support/package.xml
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Expand Up @@ -16,8 +16,7 @@
</ul>
<p>
Joint limits and maximum joint velocities are based on the information
found in the online
http://www.kuka-robotics.com/res/sps/e6c77545-9030-49b1-93f5-4d17c92173aa_Spez_KR_QUANTEC_extra_en.pdf
found in the online <a href="http://www.kuka-robotics.com/res/sps/e6c77545-9030-49b1-93f5-4d17c92173aa_Spez_KR_QUANTEC_extra_en.pdf">datasheet</a>.
All urdfs are based on the default motion and joint velocity limits,
unless noted otherwise.
</p>
Expand All @@ -26,6 +25,9 @@
in this package, be sure to check they are correct for the particular
robot model and configuration you intend to use them with.
</p>
<p>
<b>NB</b>: this package currently uses non-valid inertia parameters.
</p>
</description>
<author>Shaun Edwards</author>
<maintainer email="shaun.edwards@gmail.com">Shaun Edwards</maintainer>
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80 changes: 43 additions & 37 deletions kuka_kr210_support/urdf/kr210l150.urdf
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@@ -1,6 +1,6 @@
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from /home/ros/ros/catkin_ws/src/kuka_experimental/kuka_kr210_support/urdf/kr210l150.xacro | -->
<!-- | This document was autogenerated by xacro from kr210l150.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!--Generates a urdf from the macro in kr210_macro.xacro -->
Expand Down Expand Up @@ -49,13 +49,6 @@
</geometry>
</collision>
</link>
<joint name="joint_1" type="revolute">
<origin rpy="0 0 0" xyz="-0.00262 0.00097586 0.33099"/>
<parent link="base_link"/>
<child link="link_1"/>
<axis xyz="0 0 1"/>
<limit effort="0" lower="-3.228859205" upper="3.228859205" velocity="2.146755039"/>
</joint>
<link name="link_2">
<inertial>
<origin rpy="0 0 0" xyz="0.016923 -0.19196 0.44751"/>
Expand All @@ -78,13 +71,6 @@
</geometry>
</collision>
</link>
<joint name="joint_2" type="revolute">
<origin rpy="0 0 0" xyz="0.35277 -0.037476 0.4192"/>
<parent link="link_1"/>
<child link="link_2"/>
<axis xyz="0 1 0"/>
<limit effort="0" lower="-0.785398185" upper="1.483529905" velocity="2.007128695"/>
</joint>
<link name="link_3">
<inertial>
<origin rpy="0 0 0" xyz="0.18842 0.18344 -0.042799"/>
Expand All @@ -107,13 +93,6 @@
</geometry>
</collision>
</link>
<joint name="joint_3" type="revolute">
<origin rpy="0 0 0" xyz="-9.8483E-05 -0.1475 1.2499"/>
<parent link="link_2"/>
<child link="link_3"/>
<axis xyz="0 1 0"/>
<limit effort="0" lower="-3.66519153" upper="1.134464045" velocity="1.954768816"/>
</joint>
<link name="link_4">
<inertial>
<origin rpy="0 0 0" xyz="0.27146 -0.007326 5.2775E-05"/>
Expand All @@ -136,13 +115,6 @@
</geometry>
</collision>
</link>
<joint name="joint_4" type="revolute">
<origin rpy="0 0 0" xyz="0.95795 0.184 -0.055059"/>
<parent link="link_3"/>
<child link="link_4"/>
<axis xyz="1 0 0"/>
<limit effort="0" lower="-6.10865255" upper="6.10865255" velocity="3.124139447"/>
</joint>
<link name="link_5">
<inertial>
<origin rpy="0 0 0" xyz="0.04379 0.025984 3.5491E-07"/>
Expand All @@ -165,13 +137,6 @@
</geometry>
</collision>
</link>
<joint name="joint_5" type="revolute">
<origin rpy="0 0 0" xyz="0.542 0 0"/>
<parent link="link_4"/>
<child link="link_5"/>
<axis xyz="0 1 0"/>
<limit effort="0" lower="-2.181661625" upper="2.181661625" velocity="3.001966396"/>
</joint>
<link name="link_6">
<inertial>
<origin rpy="0 0 0" xyz="-0.017956 -1.5237E-05 0.00015484"/>
Expand All @@ -194,18 +159,59 @@
</geometry>
</collision>
</link>
<link name="tool0"/>
<joint name="joint_1" type="revolute">
<origin rpy="0 0 0" xyz="-0.00262 0.00097586 0.33099"/>
<parent link="base_link"/>
<child link="link_1"/>
<axis xyz="0 0 1"/>
<limit effort="0" lower="-3.228859205" upper="3.228859205" velocity="2.146755039"/>
</joint>
<joint name="joint_2" type="revolute">
<origin rpy="0 0 0" xyz="0.35277 -0.037476 0.4192"/>
<parent link="link_1"/>
<child link="link_2"/>
<axis xyz="0 1 0"/>
<limit effort="0" lower="-0.785398185" upper="1.483529905" velocity="2.007128695"/>
</joint>
<joint name="joint_3" type="revolute">
<origin rpy="0 0 0" xyz="-9.8483E-05 -0.1475 1.2499"/>
<parent link="link_2"/>
<child link="link_3"/>
<axis xyz="0 1 0"/>
<limit effort="0" lower="-3.66519153" upper="1.134464045" velocity="1.954768816"/>
</joint>
<joint name="joint_4" type="revolute">
<origin rpy="0 0 0" xyz="0.95795 0.184 -0.055059"/>
<parent link="link_3"/>
<child link="link_4"/>
<axis xyz="1 0 0"/>
<limit effort="0" lower="-6.10865255" upper="6.10865255" velocity="3.124139447"/>
</joint>
<joint name="joint_5" type="revolute">
<origin rpy="0 0 0" xyz="0.542 0 0"/>
<parent link="link_4"/>
<child link="link_5"/>
<axis xyz="0 1 0"/>
<limit effort="0" lower="-2.181661625" upper="2.181661625" velocity="3.001966396"/>
</joint>
<joint name="joint_6" type="revolute">
<origin rpy="0 0 0" xyz="0.1925 0 0"/>
<parent link="link_5"/>
<child link="link_6"/>
<axis xyz="1 0 0"/>
<limit effort="0" lower="-6.10865255" upper="6.10865255" velocity="3.822271167"/>
</joint>
<link name="tool0"/>
<joint name="link_6-tool0" type="fixed">
<parent link="link_6"/>
<child link="tool0"/>
<origin rpy="0 0 0" xyz="0.0375 0 -0.00023924"/>
</joint>
<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: 2 additions & 6 deletions kuka_kr210_support/urdf/kr210l150.xacro
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<?xml version="1.0" ?>

<!--Generates a urdf from the macro in kr210_macro.xacro -->

<robot name="kuka_kr210" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find kuka_kr210_support)/urdf/kr210l150_macro.xacro"/>
<xacro:kuka_kr210l150 prefix=""/>
<xacro:include filename="$(find kuka_kr210_support)/urdf/kr210l150_macro.xacro"/>
<xacro:kuka_kr210l150 prefix=""/>
</robot>

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