diff --git a/kuka_agilus_support/launch/test_kr6_r700-sixx.launch.py b/kuka_agilus_support/launch/test_kr6_r700-sixx.launch.py
index d5f3694..d5654ef 100644
--- a/kuka_agilus_support/launch/test_kr6_r700-sixx.launch.py
+++ b/kuka_agilus_support/launch/test_kr6_r700-sixx.launch.py
@@ -28,6 +28,7 @@ def generate_launch_description():
"urdf", "kr6_r700-sixx.urdf.xacro"]
),
" ",
+ "use_fake_hardware:=true",
]
)
robot_description = {'robot_description': robot_description_content}
diff --git a/kuka_agilus_support/launch/test_kr6_r900-sixx.launch.py b/kuka_agilus_support/launch/test_kr6_r900-sixx.launch.py
index d5f3694..d5654ef 100644
--- a/kuka_agilus_support/launch/test_kr6_r900-sixx.launch.py
+++ b/kuka_agilus_support/launch/test_kr6_r900-sixx.launch.py
@@ -28,6 +28,7 @@ def generate_launch_description():
"urdf", "kr6_r700-sixx.urdf.xacro"]
),
" ",
+ "use_fake_hardware:=true",
]
)
robot_description = {'robot_description': robot_description_content}
diff --git a/kuka_agilus_support/urdf/kr6_r700-sixx.urdf.xacro b/kuka_agilus_support/urdf/kr6_r700-sixx.urdf.xacro
new file mode 100644
index 0000000..be09810
--- /dev/null
+++ b/kuka_agilus_support/urdf/kr6_r700-sixx.urdf.xacro
@@ -0,0 +1,10 @@
+
+
+
+
+
+
+
+
+
+
diff --git a/kuka_agilus_support/urdf/kr6_r700_sixx_macro.xacro b/kuka_agilus_support/urdf/kr6_r700-sixx_macro.xacro
similarity index 97%
rename from kuka_agilus_support/urdf/kr6_r700_sixx_macro.xacro
rename to kuka_agilus_support/urdf/kr6_r700-sixx_macro.xacro
index 03f0cf3..21d77f6 100644
--- a/kuka_agilus_support/urdf/kr6_r700_sixx_macro.xacro
+++ b/kuka_agilus_support/urdf/kr6_r700-sixx_macro.xacro
@@ -5,13 +5,11 @@
-
+
diff --git a/kuka_agilus_support/urdf/kr6_r700_sixx.urdf.xacro b/kuka_agilus_support/urdf/kr6_r700_sixx.urdf.xacro
deleted file mode 100644
index 0b6dc62..0000000
--- a/kuka_agilus_support/urdf/kr6_r700_sixx.urdf.xacro
+++ /dev/null
@@ -1,19 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/kuka_agilus_support/urdf/kr6_r900-sixx.urdf.xacro b/kuka_agilus_support/urdf/kr6_r900-sixx.urdf.xacro
new file mode 100644
index 0000000..f673f44
--- /dev/null
+++ b/kuka_agilus_support/urdf/kr6_r900-sixx.urdf.xacro
@@ -0,0 +1,10 @@
+
+
+
+
+
+
+
+
+
+
diff --git a/kuka_agilus_support/urdf/kr6_r900_sixx_macro.xacro b/kuka_agilus_support/urdf/kr6_r900-sixx_macro.xacro
similarity index 97%
rename from kuka_agilus_support/urdf/kr6_r900_sixx_macro.xacro
rename to kuka_agilus_support/urdf/kr6_r900-sixx_macro.xacro
index c8fd1b9..d5024fa 100644
--- a/kuka_agilus_support/urdf/kr6_r900_sixx_macro.xacro
+++ b/kuka_agilus_support/urdf/kr6_r900-sixx_macro.xacro
@@ -5,13 +5,11 @@
-
+
diff --git a/kuka_agilus_support/urdf/kr6_r900_sixx.urdf.xacro b/kuka_agilus_support/urdf/kr6_r900_sixx.urdf.xacro
deleted file mode 100644
index e30d947..0000000
--- a/kuka_agilus_support/urdf/kr6_r900_sixx.urdf.xacro
+++ /dev/null
@@ -1,19 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/kuka_agilus_support/urdf/kr_agilus_ros2_control.xacro b/kuka_agilus_support/urdf/kr_agilus_ros2_control.xacro
index 694c169..9fa975c 100644
--- a/kuka_agilus_support/urdf/kr_agilus_ros2_control.xacro
+++ b/kuka_agilus_support/urdf/kr_agilus_ros2_control.xacro
@@ -1,6 +1,6 @@
-
+
@@ -9,6 +9,12 @@
0.0
+
+
+
+
+
+
kuka_rsi_hw_interface::KukaRSIHardwareInterface
${client_ip}
${client_port}
diff --git a/kuka_cybertech_support/launch/test_kr16_r2010-2.launch.py b/kuka_cybertech_support/launch/test_kr16_r2010-2.launch.py
index ea71d4b..465668b 100644
--- a/kuka_cybertech_support/launch/test_kr16_r2010-2.launch.py
+++ b/kuka_cybertech_support/launch/test_kr16_r2010-2.launch.py
@@ -28,6 +28,7 @@ def generate_launch_description():
"urdf", "kr16_r2010-2.urdf.xacro"]
),
" ",
+ "use_fake_hardware:=true",
]
)
robot_description = {'robot_description': robot_description_content}
diff --git a/kuka_cybertech_support/urdf/kr16_r2010-2.urdf.xacro b/kuka_cybertech_support/urdf/kr16_r2010-2.urdf.xacro
index 709ae37..6b0537a 100644
--- a/kuka_cybertech_support/urdf/kr16_r2010-2.urdf.xacro
+++ b/kuka_cybertech_support/urdf/kr16_r2010-2.urdf.xacro
@@ -1,19 +1,10 @@
-
-
+
+
-
-
-
-
-
+
+
-
-
-
-
+
diff --git a/kuka_cybertech_support/urdf/kr16_r2010-2_macro.xacro b/kuka_cybertech_support/urdf/kr16_r2010-2_macro.xacro
index 1e7e7ac..84f613e 100644
--- a/kuka_cybertech_support/urdf/kr16_r2010-2_macro.xacro
+++ b/kuka_cybertech_support/urdf/kr16_r2010-2_macro.xacro
@@ -3,13 +3,11 @@
-
+
diff --git a/kuka_cybertech_support/urdf/kr_cybertech_ros2_control.xacro b/kuka_cybertech_support/urdf/kr_cybertech_ros2_control.xacro
index 4922cac..8765fad 100644
--- a/kuka_cybertech_support/urdf/kr_cybertech_ros2_control.xacro
+++ b/kuka_cybertech_support/urdf/kr_cybertech_ros2_control.xacro
@@ -1,6 +1,6 @@
-
+
@@ -9,6 +9,12 @@
0.0
+
+
+
+
+
+
kuka_rsi_hw_interface::KukaRSIHardwareInterface
${client_ip}
${client_port}
diff --git a/kuka_lbr_iiwa_support/config/simple_urdf.rviz b/kuka_lbr_iiwa_support/config/simple_urdf.rviz
deleted file mode 100644
index a564b5b..0000000
--- a/kuka_lbr_iiwa_support/config/simple_urdf.rviz
+++ /dev/null
@@ -1,254 +0,0 @@
-Panels:
- - Class: rviz_common/Displays
- Help Height: 78
- Name: Displays
- Property Tree Widget:
- Expanded:
- - /Global Options1
- - /Status1
- - /RobotModel1
- - /TF1
- Splitter Ratio: 0.5
- Tree Height: 1017
- - Class: rviz_common/Selection
- Name: Selection
- - Class: rviz_common/Tool Properties
- Expanded:
- - /2D Pose Estimate1
- - /Publish Point1
- Name: Tool Properties
- Splitter Ratio: 0.5886790156364441
- - Class: rviz_common/Views
- Expanded:
- - /Current View1
- Name: Views
- Splitter Ratio: 0.5
-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:
- Value: true
- - Alpha: 0.5
- Class: rviz_default_plugins/RobotModel
- Collision Enabled: true
- 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
- base_link_inertia:
- 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
- - Class: rviz_default_plugins/TF
- Enabled: true
- Frame Timeout: 15
- Frames:
- All Enabled: true
- base:
- Value: true
- base_link:
- Value: true
- base_link_inertia:
- 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: 0.5
- Name: TF
- Show Arrows: true
- Show Axes: true
- Show Names: true
- Tree:
- base_link:
- base:
- {}
- base_link_inertia:
- link_1:
- link_2:
- link_3:
- link_4:
- link_5:
- link_6:
- flange:
- {}
- tool0:
- {}
- Update Interval: 0
- Value: true
- Enabled: true
- Global Options:
- Background Color: 48; 48; 48
- Fixed Frame: base_link
- 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: /move_base_simple/goal
- - 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: 3.3499999046325684
- Enable Stereo Rendering:
- Stereo Eye Separation: 0.05999999865889549
- Stereo Focal Distance: 1
- Swap Stereo Eyes: false
- Value: false
- Focal Point:
- X: -0.0336405485868454
- Y: 0.08381497114896774
- Z: 0.5878596901893616
- Focal Shape Fixed Size: true
- Focal Shape Size: 0.05000000074505806
- Invert Z Axis: false
- Name: Current View
- Near Clip Distance: 0.009999999776482582
- Pitch: -0.04960332438349724
- Target Frame:
- Value: Orbit (rviz)
- Yaw: 6.111769676208496
- Saved: ~
-Window Geometry:
- Displays:
- collapsed: false
- Height: 1246
- Hide Left Dock: false
- Hide Right Dock: false
- QMainWindow State: 000000ff00000000fd0000000400000000000002ca00000484fc020000000afb0000001200530065006c0065006300740069006f006e000000003d000003b90000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000484000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000012004c0069006e006500500061006e0065006c010000003b000002ff0000000000000000000000010000010f000002fffc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002ff000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d00000044fc0100000002fb0000000800540069006d006501000000000000073d0000000000000000fb0000000800540069006d006501000000000000045000000000000000000000030e0000048400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
- Selection:
- collapsed: false
- Tool Properties:
- collapsed: false
- Views:
- collapsed: false
- Width: 1502
- X: 74
- Y: 27
diff --git a/kuka_lbr_iiwa_support/launch/full.launch.py b/kuka_lbr_iiwa_support/launch/full.launch.py
deleted file mode 100644
index 4d8f534..0000000
--- a/kuka_lbr_iiwa_support/launch/full.launch.py
+++ /dev/null
@@ -1,94 +0,0 @@
-# Copyright 2022 Áron Svastits
-#
-# 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
-
-import os
-from launch import LaunchDescription
-from launch_ros.actions import Node
-from ament_index_python.packages import get_package_share_directory
-from launch_ros.descriptions import ParameterValue
-from launch.substitutions import Command
-from launch.actions import IncludeLaunchDescription
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration
-
-
-def load_file(absolute_file_path):
- # package_path = get_package_share_directory(package_name)
- # absolute_file_path = os.path.join(package_path, file_path)
-
- try:
- with open(absolute_file_path, 'r') as file:
- return file.read()
- except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available
- return None
-
-
-def generate_launch_description():
- gui = LaunchConfiguration('gui', default='True')
-
- robot_description_path = (get_package_share_directory('kuka_lbr_iiwa7_support') +
- "/urdf/lbriiwa7.xacro")
- robot_description = {'robot_description': ParameterValue(
- Command(['xacro ', str(robot_description_path)]), value_type=str
- )}
-
- # RViz
- rviz_config_file = get_package_share_directory('kuka_lbr_iiwa7_support') + "/launch/urdf.rviz"
- rviz_node = Node(package='rviz2',
- executable='rviz2',
- name='rviz2',
- output='log',
- arguments=['-d', rviz_config_file],
- parameters=[robot_description])
-
- # Static TF
- static_tf = Node(package='tf2_ros',
- executable='static_transform_publisher',
- name='static_transform_publisher',
- output='log',
- arguments=['0.0', '0.0', '0.0', '0.0', '0.0', '0.0', 'world',
- 'LBRiiwa7RobotBase'])
-
- # Publish TF
- robot_state_publisher = Node(package='robot_state_publisher',
- executable='robot_state_publisher',
- name='robot_state_publisher',
- output='both',
- remappings=[
- ("joint_states", "lbriiwa7/joint_states")
- ],
- parameters=[robot_description])
-
- joint_state_publisher_gui = Node(package='joint_state_publisher_gui',
- executable='joint_state_publisher_gui',
- name='joint_state_publisher_gui',
- output='both',
- remappings=[("joint_states", "lbriiwa7/joint_states")],
- parameters=[robot_description])
-
- pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
-
- gazebo_launch = IncludeLaunchDescription(
- PythonLaunchDescriptionSource(
- os.path.join(pkg_gazebo_ros, 'launch', 'gazebo.launch.py')
- ),
- launch_arguments={'gui': gui}.items(),
- )
-
- spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py',
- arguments=['-entity', 'lbriiwa7', '-topic', '/robot_description'],
- output='screen')
-
- return LaunchDescription([static_tf, robot_state_publisher, joint_state_publisher_gui,
- gazebo_launch, spawn_entity, rviz_node])
diff --git a/kuka_lbr_iiwa_support/launch/rviz.launch.py b/kuka_lbr_iiwa_support/launch/rviz.launch.py
deleted file mode 100644
index 80ec168..0000000
--- a/kuka_lbr_iiwa_support/launch/rviz.launch.py
+++ /dev/null
@@ -1,76 +0,0 @@
-# Copyright 2022 Áron Svastits
-#
-# 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 import LaunchDescription
-from launch_ros.actions import Node
-from launch_ros.descriptions import ParameterValue
-from launch.substitutions import Command
-from ament_index_python.packages import get_package_share_directory
-
-
-def load_file(absolute_file_path):
- # package_path = get_package_share_directory(package_name)
- # absolute_file_path = os.path.join(package_path, file_path)
-
- try:
- with open(absolute_file_path, 'r') as file:
- return file.read()
- except EnvironmentError: # parent of IOError, OSError *and* WindowsError where available
- return None
-
-
-def generate_launch_description():
- robot_description_path = (get_package_share_directory('kuka_lbr_iiwa7_support') +
- "/urdf/lbriiwa7.xacro")
- robot_description = {'robot_description': ParameterValue(
- Command(['xacro ', str(robot_description_path)]), value_type=str
- )}
-
- robot_semantic_config = load_file(get_package_share_directory('kuka_lbr_iiwa7_support')
- + '/urdf/lbriiwa7.srdf')
- robot_description_semantic = {'robot_description_semantic': robot_semantic_config}
-
- # RViz
- rviz_config_file = get_package_share_directory('kuka_lbr_iiwa7_support') + "/launch/urdf.rviz"
- rviz_node = Node(package='rviz2',
- executable='rviz2',
- name='rviz2',
- output='log',
- arguments=['-d', rviz_config_file],
- parameters=[robot_description,
- robot_description_semantic])
-
- # Static TF
- static_tf = Node(package='tf2_ros',
- executable='static_transform_publisher',
- name='static_transform_publisher',
- output='log',
- arguments=['0.0', '0.0', '0.0', '0.0', '0.0', '0.0', 'world',
- 'LBRiiwa7RobotBase'])
-
- # Publish TF
- robot_state_publisher = Node(package='robot_state_publisher',
- executable='robot_state_publisher',
- name='robot_state_publisher',
- output='both',
- parameters=[robot_description])
-
- # Joint state publisher
- joint_state_publisher = Node(package='joint_state_publisher',
- executable='joint_state_publisher',
- name='joint_state_publisher',
- output='log',
- parameters=[{'source_list': ['/reference_joint_state']}])
-
- return LaunchDescription([static_tf, robot_state_publisher, joint_state_publisher, rviz_node])
diff --git a/kuka_lbr_iiwa_support/launch/test_lbr_iiwa14_r820.launch.py b/kuka_lbr_iiwa_support/launch/test_lbr_iiwa14_r820.launch.py
index 1ea99fb..19f6ff1 100644
--- a/kuka_lbr_iiwa_support/launch/test_lbr_iiwa14_r820.launch.py
+++ b/kuka_lbr_iiwa_support/launch/test_lbr_iiwa14_r820.launch.py
@@ -30,6 +30,7 @@ def generate_launch_description():
"urdf", "lbr_iiwa14_r820.urdf.xacro"]
),
" ",
+ "use_fake_hardware:=true",
]
)
robot_description = {'robot_description': robot_description_content}
diff --git a/kuka_lbr_iiwa_support/launch/urdf.rviz b/kuka_lbr_iiwa_support/launch/urdf.rviz
deleted file mode 100755
index 109793b..0000000
--- a/kuka_lbr_iiwa_support/launch/urdf.rviz
+++ /dev/null
@@ -1,241 +0,0 @@
-Panels:
- - Class: rviz_common/Displays
- Help Height: 78
- Name: Displays
- Property Tree Widget:
- Expanded:
- - /Global Options1
- - /Status1
- - /RobotModel1
- - /TF1
- Splitter Ratio: 0.5
- Tree Height: 657
- - Class: rviz_common/Selection
- Name: Selection
- - Class: rviz_common/Tool Properties
- Expanded:
- - /2D Pose Estimate1
- - /Publish Point1
- Name: Tool Properties
- Splitter Ratio: 0.5886790156364441
- - Class: rviz_common/Views
- Expanded:
- - /Current View1
- Name: Views
- Splitter Ratio: 0.5
-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:
- Value: true
- - Alpha: 0.5
- Class: rviz_default_plugins/RobotModel
- Collision Enabled: true
- 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
- LBRiiwa7Axis1:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- LBRiiwa7Axis2:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- LBRiiwa7RobotBase:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- LBRiiwa7Axis3:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- LBRiiwa7Axis4:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- LBRiiwa7Axis5:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- LBRiiwa7Axis6:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- LBRiiwa7Axis7:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- LBRiiwaFlange:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Value: true
- world:
- Alpha: 1
- Show Axes: false
- Show Trail: false
- Name: RobotModel
- TF Prefix: ""
- Update Interval: 0
- Value: true
- Visual Enabled: true
- - Class: rviz_default_plugins/TF
- Enabled: true
- Frame Timeout: 15
- Frames:
- All Enabled: true
- LBRiiwa7Axis1:
- Value: true
- LBRiiwa7Axis2:
- Value: true
- LBRiiwa7RobotBase:
- Value: true
- LBRiiwa7Axis3:
- Value: true
- LBRiiwa7Axis4:
- Value: true
- LBRiiwa7Axis5:
- Value: true
- LBRiiwa7Axis6:
- Value: true
- LBRiiwa7Axis7:
- Value: true
- LBRiiwaFlange:
- Value: true
- world:
- Value: true
- Marker Scale: 0.5
- Name: TF
- Show Arrows: true
- Show Axes: true
- Show Names: true
- Tree:
- world:
- LBRiiwa7RobotBase:
- LBRiiwa7Axis1:
- LBRiiwa7Axis2:
- LBRiiwa7Axis3:
- LBRiiwa7Axis4:
- LBRiiwa7Axis5:
- LBRiiwa7Axis6:
- LBRiiwa7Axis7:
- LBRiiwaFlange:
- {}
- Update Interval: 0
- Value: true
- Enabled: true
- Global Options:
- Background Color: 48; 48; 48
- Fixed Frame: world
- 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
- 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: /move_base_simple/goal
- - 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: 3.3499999046325684
- Enable Stereo Rendering:
- Stereo Eye Separation: 0.05999999865889549
- Stereo Focal Distance: 1
- Swap Stereo Eyes: false
- Value: false
- Focal Point:
- X: -0.11415477842092514
- Y: 0.0037024784833192825
- Z: 0.11370787769556046
- Focal Shape Fixed Size: true
- Focal Shape Size: 0.05000000074505806
- Invert Z Axis: false
- Name: Current View
- Near Clip Distance: 0.009999999776482582
- Pitch: 1.0103965997695923
- Target Frame:
- Value: Orbit (rviz)
- Yaw: 6.021770477294922
- Saved: ~
-Window Geometry:
- Displays:
- collapsed: false
- Height: 886
- Hide Left Dock: false
- Hide Right Dock: false
- QMainWindow State: 000000ff00000000fd0000000400000000000001f30000031cfc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000031c000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fbffffffff00000001d1000001880000000000000000000000010000010f0000031cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000031c000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d00000044fc0100000002fb0000000800540069006d006501000000000000073d0000000000000000fb0000000800540069006d006501000000000000045000000000000000000000042a0000031c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
- Selection:
- collapsed: false
- Tool Properties:
- collapsed: false
- Views:
- collapsed: false
- Width: 1848
- X: 72
- Y: 27
diff --git a/kuka_lbr_iiwa_support/urdf/lbr_iiwa14_r820.urdf.xacro b/kuka_lbr_iiwa_support/urdf/lbr_iiwa14_r820.urdf.xacro
index f2de9f0..6d4a332 100755
--- a/kuka_lbr_iiwa_support/urdf/lbr_iiwa14_r820.urdf.xacro
+++ b/kuka_lbr_iiwa_support/urdf/lbr_iiwa14_r820.urdf.xacro
@@ -6,7 +6,6 @@
-
-
+
diff --git a/kuka_lbr_iiwa_support/urdf/lbr_iiwa14_r820_macro.xacro b/kuka_lbr_iiwa_support/urdf/lbr_iiwa14_r820_macro.xacro
index 0cfa4ae..d808a17 100755
--- a/kuka_lbr_iiwa_support/urdf/lbr_iiwa14_r820_macro.xacro
+++ b/kuka_lbr_iiwa_support/urdf/lbr_iiwa14_r820_macro.xacro
@@ -5,14 +5,13 @@
-
+
+ use_fake_hardware="${use_fake_hardware}" />
diff --git a/kuka_lbr_iiwa_support/urdf/lbr_iiwa_ros2_control.xacro b/kuka_lbr_iiwa_support/urdf/lbr_iiwa_ros2_control.xacro
index 463ed4b..b195c23 100644
--- a/kuka_lbr_iiwa_support/urdf/lbr_iiwa_ros2_control.xacro
+++ b/kuka_lbr_iiwa_support/urdf/lbr_iiwa_ros2_control.xacro
@@ -1,17 +1,12 @@
-
+
-
- gazebo_ros2_control/GazeboSystem
-
-
- mock_components/GenericSystem
- false
- 0.0
-
+ mock_components/GenericSystem
+ false
+ 0.0
kuka_sunrise::KUKAFRIHardwareInterface
@@ -68,21 +63,15 @@
-
-
-
-
-
-
+
+
+
+
+
+
+
+
-
-
- robot_description
- robot_state_publisher
- $(find kuka_sunrise)/config/ros2_controller_config.yaml
- $(find kuka_sunrise)/config/joint_trajectory_controller_config.yaml
-
-
diff --git a/kuka_quantec_support/launch/test_kr210_r2700-2.launch.py b/kuka_quantec_support/launch/test_kr210_r2700-2.launch.py
index fc5edfe..3bb5611 100644
--- a/kuka_quantec_support/launch/test_kr210_r2700-2.launch.py
+++ b/kuka_quantec_support/launch/test_kr210_r2700-2.launch.py
@@ -28,6 +28,7 @@ def generate_launch_description():
"urdf", "kr210_r2700-2.urdf.xacro"]
),
" ",
+ "use_fake_hardware:=true",
]
)
robot_description = {'robot_description': robot_description_content}
diff --git a/kuka_quantec_support/launch/test_kr210_r3100-2.launch.py b/kuka_quantec_support/launch/test_kr210_r3100-2.launch.py
index cc50949..7c02581 100644
--- a/kuka_quantec_support/launch/test_kr210_r3100-2.launch.py
+++ b/kuka_quantec_support/launch/test_kr210_r3100-2.launch.py
@@ -28,6 +28,7 @@ def generate_launch_description():
"urdf", "kr210_r3100-2.urdf.xacro"]
),
" ",
+ "use_fake_hardware:=true",
]
)
robot_description = {'robot_description': robot_description_content}
diff --git a/kuka_quantec_support/urdf/kr210_r2700-2.urdf.xacro b/kuka_quantec_support/urdf/kr210_r2700-2.urdf.xacro
index 31254ad..81ba78e 100644
--- a/kuka_quantec_support/urdf/kr210_r2700-2.urdf.xacro
+++ b/kuka_quantec_support/urdf/kr210_r2700-2.urdf.xacro
@@ -1,19 +1,10 @@
-
-
+
+
-
-
-
-
-
+
+
-
-
-
-
+
diff --git a/kuka_quantec_support/urdf/kr210_r2700-2_macro.xacro b/kuka_quantec_support/urdf/kr210_r2700-2_macro.xacro
index 111be26..26fd058 100644
--- a/kuka_quantec_support/urdf/kr210_r2700-2_macro.xacro
+++ b/kuka_quantec_support/urdf/kr210_r2700-2_macro.xacro
@@ -3,13 +3,11 @@
-
+
diff --git a/kuka_quantec_support/urdf/kr210_r3100-2.urdf.xacro b/kuka_quantec_support/urdf/kr210_r3100-2.urdf.xacro
index 8bb3941..42b58a2 100644
--- a/kuka_quantec_support/urdf/kr210_r3100-2.urdf.xacro
+++ b/kuka_quantec_support/urdf/kr210_r3100-2.urdf.xacro
@@ -1,19 +1,10 @@
-
-
+
+
-
-
-
-
-
+
+
-
-
-
-
+
diff --git a/kuka_quantec_support/urdf/kr210_r3100-2_macro.xacro b/kuka_quantec_support/urdf/kr210_r3100-2_macro.xacro
index 58d201d..dd6cd4f 100644
--- a/kuka_quantec_support/urdf/kr210_r3100-2_macro.xacro
+++ b/kuka_quantec_support/urdf/kr210_r3100-2_macro.xacro
@@ -3,13 +3,11 @@
-
+
diff --git a/kuka_quantec_support/urdf/kr_quantec_ros2_control.xacro b/kuka_quantec_support/urdf/kr_quantec_ros2_control.xacro
index 611daa8..f41f20b 100644
--- a/kuka_quantec_support/urdf/kr_quantec_ros2_control.xacro
+++ b/kuka_quantec_support/urdf/kr_quantec_ros2_control.xacro
@@ -1,6 +1,6 @@
-
+
@@ -9,6 +9,12 @@
0.0
+
+
+
+
+
+
kuka_rsi_hw_interface::KukaRSIHardwareInterface
${client_ip}
${client_port}