diff --git a/kuka_kr270_support/CMakeLists.txt b/kuka_kr270_support/CMakeLists.txt new file mode 100644 index 000000000..b1327f9b5 --- /dev/null +++ b/kuka_kr270_support/CMakeLists.txt @@ -0,0 +1,14 @@ +cmake_minimum_required(VERSION 3.0.2) +project(kuka_kr270_support) + +find_package(catkin REQUIRED) + +catkin_package() + +if (CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + roslaunch_add_file_check(test/roslaunch_test.xml) +endif() + +install(DIRECTORY config launch meshes urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/kuka_kr270_support/config/joint_names_kr270r2700.yaml b/kuka_kr270_support/config/joint_names_kr270r2700.yaml new file mode 100644 index 000000000..1a23ced85 --- /dev/null +++ b/kuka_kr270_support/config/joint_names_kr270r2700.yaml @@ -0,0 +1 @@ +controller_joint_names: ['joint_a1', 'joint_a2', 'joint_a3', 'joint_a4', 'joint_a5', 'joint_a6'] diff --git a/kuka_kr270_support/launch/load_kr270r2700.launch b/kuka_kr270_support/launch/load_kr270r2700.launch new file mode 100644 index 000000000..744d6d3ed --- /dev/null +++ b/kuka_kr270_support/launch/load_kr270r2700.launch @@ -0,0 +1,3 @@ + + + diff --git a/kuka_kr270_support/launch/test_kr270r2700.launch b/kuka_kr270_support/launch/test_kr270r2700.launch new file mode 100644 index 000000000..f5e1bd947 --- /dev/null +++ b/kuka_kr270_support/launch/test_kr270r2700.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/kuka_kr270_support/meshes/kr270r2700/collision/base_link.stl b/kuka_kr270_support/meshes/kr270r2700/collision/base_link.stl new file mode 100644 index 000000000..fa8956a7a Binary files /dev/null and b/kuka_kr270_support/meshes/kr270r2700/collision/base_link.stl differ diff --git a/kuka_kr270_support/meshes/kr270r2700/collision/link_1.stl b/kuka_kr270_support/meshes/kr270r2700/collision/link_1.stl new file mode 100644 index 000000000..16f8be276 Binary files /dev/null and b/kuka_kr270_support/meshes/kr270r2700/collision/link_1.stl differ diff --git a/kuka_kr270_support/meshes/kr270r2700/collision/link_2.stl b/kuka_kr270_support/meshes/kr270r2700/collision/link_2.stl new file mode 100644 index 000000000..95403ae24 Binary files /dev/null and b/kuka_kr270_support/meshes/kr270r2700/collision/link_2.stl differ diff --git a/kuka_kr270_support/meshes/kr270r2700/collision/link_3.stl b/kuka_kr270_support/meshes/kr270r2700/collision/link_3.stl new file mode 100644 index 000000000..5c4e1d972 Binary files /dev/null and b/kuka_kr270_support/meshes/kr270r2700/collision/link_3.stl differ diff --git a/kuka_kr270_support/meshes/kr270r2700/collision/link_4.stl b/kuka_kr270_support/meshes/kr270r2700/collision/link_4.stl new file mode 100644 index 000000000..534b89542 Binary files /dev/null and b/kuka_kr270_support/meshes/kr270r2700/collision/link_4.stl differ diff --git a/kuka_kr270_support/meshes/kr270r2700/collision/link_5.stl b/kuka_kr270_support/meshes/kr270r2700/collision/link_5.stl new file mode 100644 index 000000000..38ae275b6 Binary files /dev/null and b/kuka_kr270_support/meshes/kr270r2700/collision/link_5.stl differ diff --git a/kuka_kr270_support/meshes/kr270r2700/collision/link_6.stl b/kuka_kr270_support/meshes/kr270r2700/collision/link_6.stl new file mode 100644 index 000000000..e8cecd3f3 Binary files /dev/null and b/kuka_kr270_support/meshes/kr270r2700/collision/link_6.stl differ diff --git a/kuka_kr270_support/meshes/kr270r2700/visual/base_link.dae b/kuka_kr270_support/meshes/kr270r2700/visual/base_link.dae new file mode 100644 index 000000000..deee38c1c --- /dev/null +++ b/kuka_kr270_support/meshes/kr270r2700/visual/base_link.dae @@ -0,0 +1,346 @@ + + + + + Blender User + Blender 3.1.2 commit date:2022-03-31, commit time:17:40, hash:cc66d1020c3b + + 2022-05-02T17:09:44 + 2022-05-02T17:09:44 + + Z_UP + + + + + + + 39.59775 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 10 + + + + + + + + + 1000 1000 1000 + 1 + 0 + 0.00111109 + + + + + 0 + 0 + 1 + 1 + 1 + 1 + 1 + 0 + 0 + 0 + 1000 + 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3 0 20 1 2 2 3 0 37 3 20 1 4 4 36 5 37 3 4 4 37 3 3 0 5 6 35 7 36 5 5 6 36 5 4 4 6 8 34 9 35 7 6 8 35 7 5 6 7 10 33 11 34 9 7 10 34 9 6 8 8 12 32 13 33 11 8 12 33 11 7 10 9 14 31 15 32 13 9 14 32 13 8 12 10 16 30 17 31 15 10 16 31 15 9 14 11 18 29 19 30 17 11 18 30 17 10 16 12 20 28 21 29 19 12 20 29 19 11 18 13 22 27 23 28 21 13 22 28 21 12 20 14 24 26 25 27 23 14 24 27 23 13 22 15 26 25 27 26 25 15 26 26 25 14 24 16 28 24 29 25 27 16 28 25 27 15 26 17 30 24 29 16 28 17 30 23 31 24 29 18 32 23 31 17 30 18 32 22 33 23 31 19 34 22 33 18 32 19 34 21 35 22 33 1 36 21 35 19 34 1 36 0 37 21 35 75 38 38 39 39 40 74 41 39 40 40 42 74 41 75 38 39 40 73 43 40 42 41 44 73 43 74 41 40 42 72 45 41 44 42 46 72 45 73 43 41 44 71 47 42 46 43 48 71 47 72 45 42 46 70 49 43 48 44 50 70 49 71 47 43 48 69 51 44 50 45 52 69 51 70 49 44 50 68 53 45 52 46 54 68 53 69 51 45 52 67 55 46 54 47 56 67 55 68 53 46 54 66 57 47 56 48 58 66 57 67 55 47 56 65 59 48 58 49 60 65 59 66 57 48 58 64 61 49 60 50 62 64 61 65 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117 115 116 116 118 150 117 151 114 115 116 149 119 116 118 117 120 149 119 150 117 116 118 148 121 117 120 118 122 148 121 149 119 117 120 147 123 118 122 119 124 147 123 148 121 118 122 146 125 119 124 120 126 146 125 147 123 119 124 145 127 120 126 121 128 145 127 146 125 120 126 144 129 121 128 122 130 144 129 145 127 121 128 143 131 122 130 123 132 143 131 144 129 122 130 142 133 123 132 124 134 142 133 143 131 123 132 141 135 124 134 125 136 141 135 142 133 124 134 140 137 125 136 126 138 140 137 141 135 125 136 139 139 126 138 127 140 139 139 140 137 126 138 138 141 127 140 128 142 138 141 139 139 127 140 137 143 128 142 129 144 137 143 138 141 128 142 136 145 137 143 129 144 136 145 129 144 130 146 135 147 136 145 130 146 135 147 130 146 131 148 134 149 135 147 131 148 133 150 134 149 131 148 133 150 131 148 132 151 155 152 172 153 154 154 155 152 173 155 172 153 155 152 174 156 173 155 156 157 175 158 174 156 156 157 174 156 155 152 157 159 176 160 175 158 157 159 175 158 156 157 158 161 177 162 176 160 158 161 176 160 157 159 159 163 177 162 158 161 160 164 178 165 177 162 160 164 179 166 178 165 160 164 177 162 159 163 161 167 179 166 160 164 162 168 180 131 179 166 162 168 179 166 161 167 163 169 181 170 180 131 163 169 180 131 162 168 164 171 182 172 181 170 164 171 181 170 163 169 165 173 183 174 182 172 165 173 184 175 183 174 165 173 182 172 164 171 166 176 184 175 165 173 167 177 185 178 184 175 167 177 186 179 185 178 167 177 184 175 166 176 168 180 186 179 167 177 169 181 186 179 168 180 169 181 187 182 186 179 169 181 188 183 187 182 170 184 188 183 169 181 171 185 188 183 170 184 171 185 189 186 188 183 153 187 189 186 171 185 153 187 152 188 189 186 193 189 210 190 192 191 193 189 227 192 210 190 194 193 226 194 227 192 194 193 227 192 193 189 195 195 225 196 226 194 195 195 226 194 194 193 196 197 224 198 225 196 196 197 225 196 195 195 197 199 223 200 224 198 197 199 224 198 196 197 198 201 222 202 223 200 198 201 223 200 197 199 199 167 221 203 222 202 199 167 222 202 198 201 200 204 220 205 221 203 200 204 221 203 199 167 201 206 219 207 220 205 201 206 220 205 200 204 202 208 218 209 219 207 202 208 219 207 201 206 203 210 217 211 218 209 203 210 218 209 202 208 204 212 216 213 217 211 204 212 217 211 203 210 205 214 215 215 216 213 205 214 216 213 204 212 206 216 214 217 215 215 206 216 215 215 205 214 207 218 214 217 206 216 207 218 213 219 214 217 208 220 213 219 207 218 208 220 212 221 213 219 209 222 212 221 208 220 209 222 211 223 212 221 191 224 211 223 209 222 191 224 190 225 211 223 245 226 248 227 246 228 249 229 248 227 245 226 250 230 245 226 244 231 250 230 249 229 245 226 251 232 244 231 243 233 251 232 250 230 244 231 252 234 243 233 242 235 252 234 251 232 243 233 253 236 242 235 241 237 253 236 252 234 242 235 254 238 241 237 240 239 254 238 253 236 241 237 255 240 240 239 239 241 255 240 254 238 240 239 256 242 239 241 238 243 256 242 255 240 239 241 257 244 238 243 237 245 257 244 256 242 238 243 258 246 237 245 236 247 258 246 257 244 237 245 259 248 236 247 235 249 259 248 258 246 236 247 260 250 235 249 234 251 260 250 259 248 235 249 261 252 234 251 233 253 261 252 260 250 234 251 262 254 233 253 232 255 262 254 261 252 233 253 263 256 232 255 231 257 263 256 262 254 232 255 264 258 263 256 231 257 264 258 231 257 230 259 265 260 230 259 229 261 265 260 264 258 230 259 247 262 229 261 228 263 247 262 265 260 229 261 287 264 286 265 285 266 284 267 287 264 285 266 288 268 287 264 284 267 283 269 288 268 284 267 289 270 288 268 283 269 282 271 289 270 283 269 290 272 289 270 282 271 281 273 290 272 282 271 291 274 290 272 281 273 280 275 291 274 281 273 292 276 291 274 280 275 279 277 292 276 280 275 293 278 292 276 279 277 278 279 293 278 279 277 294 280 293 278 278 279 277 281 294 280 278 279 276 282 295 283 294 280 276 282 294 280 277 281 296 284 295 283 276 282 275 285 296 284 276 282 297 286 296 284 275 285 274 287 297 286 275 285 298 288 297 286 274 287 273 289 298 288 274 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+ + + + + + + + 1 0 0 -1.79 0 1 0 0 0 0 1 -1.784 0 0 0 1 + + + + + + + + + + 0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1 + + + + -0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1 + + + + + + + + \ No newline at end of file diff --git a/kuka_kr270_support/package.xml b/kuka_kr270_support/package.xml new file mode 100644 index 000000000..6d6927697 --- /dev/null +++ b/kuka_kr270_support/package.xml @@ -0,0 +1,54 @@ + + + kuka_kr270_support + 0.1.0 + +

+ ROS-Industrial support for the KUKA KR 270 (and variants). +

+

+ This package contains configuration data, 3D models and launch files + for KUKA KR 270 manipulators. This currently includes the R2700 only. +

+

Specifications:

+ +

+ Joint limits and maximum joint velocities are based on the information + + All urdfs are based on the default motion and joint velocity limits, + unless noted otherwise. +

+

+ Before using any of the configuration files and / or meshes included + in this package, be sure to check they are correct for the particular + robot model and configuration you intend to use them with. +

+

+ NB: this package currently uses non-valid inertia parameters. +

+ + Jan Krieglstein + Jan Krieglstein (Fraunhofer IPA) + G.A. vd. Hoorn (TU Delft Robotics Institute) + BSD + + + https://github.com/ros-industrial/kuka_experimental/issues + https://github.com/ros-industrial/kuka_experimental + + catkin + + roslaunch + + industrial_robot_client + joint_state_publisher + robot_state_publisher + rviz + xacro + + + + + diff --git a/kuka_kr270_support/test/roslaunch_test.xml b/kuka_kr270_support/test/roslaunch_test.xml new file mode 100644 index 000000000..2c768463e --- /dev/null +++ b/kuka_kr270_support/test/roslaunch_test.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/kuka_kr270_support/urdf/kr270r2700.urdf b/kuka_kr270_support/urdf/kr270r2700.urdf new file mode 100644 index 000000000..68ec075a3 --- /dev/null +++ b/kuka_kr270_support/urdf/kr270r2700.urdf @@ -0,0 +1,226 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/kuka_kr270_support/urdf/kr270r2700.xacro b/kuka_kr270_support/urdf/kr270r2700.xacro new file mode 100644 index 000000000..6297f7e09 --- /dev/null +++ b/kuka_kr270_support/urdf/kr270r2700.xacro @@ -0,0 +1,5 @@ + + + + + diff --git a/kuka_kr270_support/urdf/kr270r2700_macro.xacro b/kuka_kr270_support/urdf/kr270r2700_macro.xacro new file mode 100644 index 000000000..091af1823 --- /dev/null +++ b/kuka_kr270_support/urdf/kr270r2700_macro.xacro @@ -0,0 +1,229 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +