diff --git a/README.md b/README.md index 3063460..224e8da 100644 --- a/README.md +++ b/README.md @@ -1,10 +1,10 @@ # kuka_robot_descriptions -This package contains resources that can be used with real KUKA robots as well as with simulations. +This repository contains support packages that can be used with real KUKA robots as well as with simulations. Github CI ------------ -[![Build Status](https://github.com/kroshu/kuka_simulators/workflows/CI/badge.svg?branch=main)](https://github.com/kroshu/kuka_simulators/actions) +[![Build Status](https://github.com/kroshu/kuka_robot_descriptions/workflows/CI/badge.svg?branch=main)](https://github.com/kroshu/kuka_robot_descriptions/actions) ## What is included? @@ -14,7 +14,7 @@ Github CI - **kuka_lbr_iisy_support** contains urdf, config and mesh files for KUKA iisy robots. - **kuka_lbr_iisy_moveit_config** contains configuration files for KUKA iisy robots necessary for planning with moveit. - **kuka_agilus_support** contains urdf, config and mesh files for KUKA Agilus robots, it is copied from [kuka_experimental](https://github.com/ros-industrial/kuka_experimental) and ported to ROS2. -- **kuka_lbr_iiwa7_support** contains urdf, config and mesh files for KUKA LBR iiwa 7 robots +- **kuka_lbr_iiwa_support** contains urdf, config and mesh files for KUKA LBR iiwa 7 robots - **kuka_rsi_simulator** implements a basic RSI simulator. It is also copied from [kuka_experimental](https://github.com/ros-industrial/kuka_experimental) and is ported to ROS2. It implements a UDP socket, and recieves the commands from an RSI interface and sends back the actual position of the robot (as it is a simulation, it is a simple closed loop, it sends what it recieved). ## Running the RSI simulator @@ -25,10 +25,10 @@ ros2 launch kuka_rsi_simulator kuka_rsi_simulator_launch.py ## Starting the move group server for KR robots -The following launch file will start the driver with fake hardware, matching robot_model and robot_family arguments can be added to the command e.g. (robot_model:=kr16_r2010-2 robot_family:=cybertech): +The following launch file will start the driver with fake hardware, matching robot_model and robot_family arguments can be added to the command e.g. (robot_model:=kr16_r2010_2 robot_family:=cybertech): ``` ros2 launch kuka_kr_moveit_config moveit_planning_fake_hardware.launch.py ``` -The robot_manager lifecycle node must be configured and activated to be able to see the robot in rviz, afterwards the server will be able to accept planning requests. (An example how to create such a request can be found in the (ros2_kuka_drivers/kuka_driver_examples)/eci_demo package.) +The robot_manager lifecycle node must be configured and activated to be able to see the robot in rviz, afterwards the server will be able to accept planning requests. (An example how to create such a request can be found in the (kuka_drivers/kuka_driver_examples)/eci_demo package.) diff --git a/kuka_agilus_support/config/agilus_urdf.rviz b/kuka_agilus_support/config/agilus_urdf.rviz deleted file mode 100644 index a3c6473..0000000 --- a/kuka_agilus_support/config/agilus_urdf.rviz +++ /dev/null @@ -1,245 +0,0 @@ -Panels: - - Class: rviz_common/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /Grid1 - - /RobotModel1 - - /RobotModel1/Description Topic1 - - /TF1 - - /TF1/Frames1 - - /TF1/Tree1/base_link1 - - /TF1/Tree1/base_link1/link_11 - Splitter Ratio: 0.5 - Tree Height: 617 - - Class: rviz_common/Selection - Name: Selection - - Class: rviz_common/Tool Properties - Expanded: - - /2D Goal Pose1 - - /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: 1 - Class: rviz_default_plugins/RobotModel - Collision Enabled: false - 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 - 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 - 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 - 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: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: false - Tree: - base_link: - base: - {} - 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 - 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: /goal_pose - - 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: 3.5294711589813232 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0.2036915272474289 - Y: -0.2434246987104416 - Z: 0.0280955508351326 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.785398006439209 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.785398006439209 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 846 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd000000040000000000000156000002f4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002f4000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000100000002f4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002f4000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000024e000002f400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1200 - X: 72 - Y: 60 diff --git a/kuka_agilus_support/launch/test_kr6r700sixx.launch.py b/kuka_agilus_support/launch/test_kr6_r700_sixx.launch.py similarity index 95% rename from kuka_agilus_support/launch/test_kr6r700sixx.launch.py rename to kuka_agilus_support/launch/test_kr6_r700_sixx.launch.py index 954a473..6ac39a9 100644 --- a/kuka_agilus_support/launch/test_kr6r700sixx.launch.py +++ b/kuka_agilus_support/launch/test_kr6_r700_sixx.launch.py @@ -28,13 +28,14 @@ def generate_launch_description(): "urdf", "kr6_r700_sixx.urdf.xacro"] ), " ", + "use_fake_hardware:=true", ] ) robot_description = {'robot_description': robot_description_content} # RViz rviz_config_file = PathJoinSubstitution([FindPackageShare( - 'kuka_agilus_support'), "config", "agilus_urdf.rviz"]) + 'kuka_resources'), "config", "view_6_axis_urdf.rviz"]) rviz_node = Node(package='rviz2', executable='rviz2', name='rviz2_launch', diff --git a/kuka_agilus_support/launch/test_kr6r900sixx.launch.py b/kuka_agilus_support/launch/test_kr6_r900_sixx.launch.py similarity index 95% rename from kuka_agilus_support/launch/test_kr6r900sixx.launch.py rename to kuka_agilus_support/launch/test_kr6_r900_sixx.launch.py index 954a473..6ac39a9 100644 --- a/kuka_agilus_support/launch/test_kr6r900sixx.launch.py +++ b/kuka_agilus_support/launch/test_kr6_r900_sixx.launch.py @@ -28,13 +28,14 @@ def generate_launch_description(): "urdf", "kr6_r700_sixx.urdf.xacro"] ), " ", + "use_fake_hardware:=true", ] ) robot_description = {'robot_description': robot_description_content} # RViz rviz_config_file = PathJoinSubstitution([FindPackageShare( - 'kuka_agilus_support'), "config", "agilus_urdf.rviz"]) + 'kuka_resources'), "config", "view_6_axis_urdf.rviz"]) rviz_node = Node(package='rviz2', executable='rviz2', name='rviz2_launch', diff --git a/kuka_agilus_support/urdf/kr6_r700_sixx.urdf.xacro b/kuka_agilus_support/urdf/kr6_r700_sixx.urdf.xacro index e8c44b1..a52db8c 100644 --- a/kuka_agilus_support/urdf/kr6_r700_sixx.urdf.xacro +++ b/kuka_agilus_support/urdf/kr6_r700_sixx.urdf.xacro @@ -1,19 +1,10 @@ - - + + - - - - - + + - - - - + diff --git a/kuka_agilus_support/urdf/kr6_r700_sixx_macro.xacro b/kuka_agilus_support/urdf/kr6_r700_sixx_macro.xacro index 6f31def..798375b 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_r900_sixx.urdf.xacro b/kuka_agilus_support/urdf/kr6_r900_sixx.urdf.xacro index c2a0c1d..b2753e2 100644 --- a/kuka_agilus_support/urdf/kr6_r900_sixx.urdf.xacro +++ b/kuka_agilus_support/urdf/kr6_r900_sixx.urdf.xacro @@ -1,19 +1,10 @@ - - + + - - - - - + + - - - - + diff --git a/kuka_agilus_support/urdf/kr6_r900_sixx_macro.xacro b/kuka_agilus_support/urdf/kr6_r900_sixx_macro.xacro index 72b8c2d..636c1e1 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/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/config/cybertech_urdf.rviz b/kuka_cybertech_support/config/cybertech_urdf.rviz deleted file mode 100644 index a3c6473..0000000 --- a/kuka_cybertech_support/config/cybertech_urdf.rviz +++ /dev/null @@ -1,245 +0,0 @@ -Panels: - - Class: rviz_common/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /Grid1 - - /RobotModel1 - - /RobotModel1/Description Topic1 - - /TF1 - - /TF1/Frames1 - - /TF1/Tree1/base_link1 - - /TF1/Tree1/base_link1/link_11 - Splitter Ratio: 0.5 - Tree Height: 617 - - Class: rviz_common/Selection - Name: Selection - - Class: rviz_common/Tool Properties - Expanded: - - /2D Goal Pose1 - - /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: 1 - Class: rviz_default_plugins/RobotModel - Collision Enabled: false - 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 - 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 - 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 - 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: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: false - Tree: - base_link: - base: - {} - 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 - 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: /goal_pose - - 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: 3.5294711589813232 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0.2036915272474289 - Y: -0.2434246987104416 - Z: 0.0280955508351326 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.785398006439209 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.785398006439209 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 846 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd000000040000000000000156000002f4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002f4000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000100000002f4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002f4000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000024e000002f400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1200 - X: 72 - Y: 60 diff --git a/kuka_cybertech_support/config/kr16_r2010-2_joint_limits.yaml b/kuka_cybertech_support/config/kr16_r2010_2_joint_limits.yaml similarity index 100% rename from kuka_cybertech_support/config/kr16_r2010-2_joint_limits.yaml rename to kuka_cybertech_support/config/kr16_r2010_2_joint_limits.yaml diff --git a/kuka_cybertech_support/launch/test_kr16r2010-2.launch.py b/kuka_cybertech_support/launch/test_kr16_r2010_2.launch.py similarity index 93% rename from kuka_cybertech_support/launch/test_kr16r2010-2.launch.py rename to kuka_cybertech_support/launch/test_kr16_r2010_2.launch.py index 2a1b17d..c1cd7f0 100644 --- a/kuka_cybertech_support/launch/test_kr16r2010-2.launch.py +++ b/kuka_cybertech_support/launch/test_kr16_r2010_2.launch.py @@ -25,16 +25,17 @@ def generate_launch_description(): " ", PathJoinSubstitution( [FindPackageShare("kuka_cybertech_support"), - "urdf", "kr16_r2010-2.urdf.xacro"] + "urdf", "kr16_r2010_2.urdf.xacro"] ), " ", + "use_fake_hardware:=true", ] ) robot_description = {'robot_description': robot_description_content} # RViz rviz_config_file = PathJoinSubstitution([FindPackageShare( - 'kuka_cybertech_support'), "config", "cybertech_urdf.rviz"]) + 'kuka_resources'), "config", "view_6_axis_urdf.rviz"]) rviz_node = Node(package='rviz2', executable='rviz2', name='rviz2_launch', diff --git a/kuka_cybertech_support/meshes/kr16_r2010-2/collision/base_link.stl b/kuka_cybertech_support/meshes/kr16_r2010_2/collision/base_link.stl similarity index 100% rename from kuka_cybertech_support/meshes/kr16_r2010-2/collision/base_link.stl rename to kuka_cybertech_support/meshes/kr16_r2010_2/collision/base_link.stl diff --git a/kuka_cybertech_support/meshes/kr16_r2010-2/collision/link_1.stl b/kuka_cybertech_support/meshes/kr16_r2010_2/collision/link_1.stl similarity index 100% rename from kuka_cybertech_support/meshes/kr16_r2010-2/collision/link_1.stl rename to kuka_cybertech_support/meshes/kr16_r2010_2/collision/link_1.stl diff --git a/kuka_cybertech_support/meshes/kr16_r2010-2/collision/link_2.stl b/kuka_cybertech_support/meshes/kr16_r2010_2/collision/link_2.stl similarity index 100% rename from kuka_cybertech_support/meshes/kr16_r2010-2/collision/link_2.stl rename to kuka_cybertech_support/meshes/kr16_r2010_2/collision/link_2.stl diff --git a/kuka_cybertech_support/meshes/kr16_r2010-2/collision/link_3.stl b/kuka_cybertech_support/meshes/kr16_r2010_2/collision/link_3.stl similarity index 100% rename from kuka_cybertech_support/meshes/kr16_r2010-2/collision/link_3.stl rename to kuka_cybertech_support/meshes/kr16_r2010_2/collision/link_3.stl diff --git a/kuka_cybertech_support/meshes/kr16_r2010-2/collision/link_4.stl b/kuka_cybertech_support/meshes/kr16_r2010_2/collision/link_4.stl similarity index 100% rename from kuka_cybertech_support/meshes/kr16_r2010-2/collision/link_4.stl rename to kuka_cybertech_support/meshes/kr16_r2010_2/collision/link_4.stl diff --git a/kuka_cybertech_support/meshes/kr16_r2010-2/collision/link_5.stl b/kuka_cybertech_support/meshes/kr16_r2010_2/collision/link_5.stl similarity index 100% rename from kuka_cybertech_support/meshes/kr16_r2010-2/collision/link_5.stl rename to kuka_cybertech_support/meshes/kr16_r2010_2/collision/link_5.stl diff --git a/kuka_cybertech_support/meshes/kr16_r2010-2/collision/link_6.stl b/kuka_cybertech_support/meshes/kr16_r2010_2/collision/link_6.stl similarity index 100% rename from kuka_cybertech_support/meshes/kr16_r2010-2/collision/link_6.stl rename to kuka_cybertech_support/meshes/kr16_r2010_2/collision/link_6.stl diff --git a/kuka_cybertech_support/meshes/kr16_r2010-2/visual/base_link.stl b/kuka_cybertech_support/meshes/kr16_r2010_2/visual/base_link.stl similarity index 100% rename from kuka_cybertech_support/meshes/kr16_r2010-2/visual/base_link.stl rename to kuka_cybertech_support/meshes/kr16_r2010_2/visual/base_link.stl diff --git a/kuka_cybertech_support/meshes/kr16_r2010-2/visual/link_1.stl b/kuka_cybertech_support/meshes/kr16_r2010_2/visual/link_1.stl similarity index 100% rename from kuka_cybertech_support/meshes/kr16_r2010-2/visual/link_1.stl rename to kuka_cybertech_support/meshes/kr16_r2010_2/visual/link_1.stl diff --git a/kuka_cybertech_support/meshes/kr16_r2010-2/visual/link_2.stl b/kuka_cybertech_support/meshes/kr16_r2010_2/visual/link_2.stl similarity index 100% rename from kuka_cybertech_support/meshes/kr16_r2010-2/visual/link_2.stl rename to kuka_cybertech_support/meshes/kr16_r2010_2/visual/link_2.stl diff --git a/kuka_cybertech_support/meshes/kr16_r2010-2/visual/link_3.stl b/kuka_cybertech_support/meshes/kr16_r2010_2/visual/link_3.stl similarity index 100% rename from kuka_cybertech_support/meshes/kr16_r2010-2/visual/link_3.stl rename to kuka_cybertech_support/meshes/kr16_r2010_2/visual/link_3.stl diff --git a/kuka_cybertech_support/meshes/kr16_r2010-2/visual/link_4.stl b/kuka_cybertech_support/meshes/kr16_r2010_2/visual/link_4.stl similarity index 100% rename from kuka_cybertech_support/meshes/kr16_r2010-2/visual/link_4.stl rename to kuka_cybertech_support/meshes/kr16_r2010_2/visual/link_4.stl diff --git a/kuka_cybertech_support/meshes/kr16_r2010-2/visual/link_5.stl b/kuka_cybertech_support/meshes/kr16_r2010_2/visual/link_5.stl similarity index 100% rename from kuka_cybertech_support/meshes/kr16_r2010-2/visual/link_5.stl rename to kuka_cybertech_support/meshes/kr16_r2010_2/visual/link_5.stl diff --git a/kuka_cybertech_support/meshes/kr16_r2010-2/visual/link_6.stl b/kuka_cybertech_support/meshes/kr16_r2010_2/visual/link_6.stl similarity index 100% rename from kuka_cybertech_support/meshes/kr16_r2010-2/visual/link_6.stl rename to kuka_cybertech_support/meshes/kr16_r2010_2/visual/link_6.stl diff --git a/kuka_cybertech_support/urdf/kr16_r2010-2.urdf.xacro b/kuka_cybertech_support/urdf/kr16_r2010-2.urdf.xacro deleted file mode 100644 index 709ae37..0000000 --- a/kuka_cybertech_support/urdf/kr16_r2010-2.urdf.xacro +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - - diff --git a/kuka_cybertech_support/urdf/kr16_r2010_2.urdf.xacro b/kuka_cybertech_support/urdf/kr16_r2010_2.urdf.xacro new file mode 100644 index 0000000..d6d48db --- /dev/null +++ b/kuka_cybertech_support/urdf/kr16_r2010_2.urdf.xacro @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/kuka_cybertech_support/urdf/kr16_r2010-2_macro.xacro b/kuka_cybertech_support/urdf/kr16_r2010_2_macro.xacro similarity index 92% rename from kuka_cybertech_support/urdf/kr16_r2010-2_macro.xacro rename to kuka_cybertech_support/urdf/kr16_r2010_2_macro.xacro index 1e7e7ac..aabdca1 100644 --- a/kuka_cybertech_support/urdf/kr16_r2010-2_macro.xacro +++ b/kuka_cybertech_support/urdf/kr16_r2010_2_macro.xacro @@ -3,20 +3,18 @@ - + - + @@ -27,7 +25,7 @@ - + @@ -35,7 +33,7 @@ - + @@ -46,7 +44,7 @@ - + @@ -54,7 +52,7 @@ - + @@ -65,7 +63,7 @@ - + @@ -73,7 +71,7 @@ - + @@ -84,7 +82,7 @@ - + @@ -92,7 +90,7 @@ - + @@ -103,7 +101,7 @@ - + @@ -111,7 +109,7 @@ - + @@ -122,7 +120,7 @@ - + @@ -130,7 +128,7 @@ - + @@ -141,7 +139,7 @@ - + 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_kr_moveit_config/CMakeLists.txt b/kuka_kr_moveit_config/CMakeLists.txt index 6cb341a..87454ba 100644 --- a/kuka_kr_moveit_config/CMakeLists.txt +++ b/kuka_kr_moveit_config/CMakeLists.txt @@ -10,9 +10,9 @@ find_package(xacro REQUIRED) set(supported_robots kr6_r700_sixx kr6_r900_sixx - kr16_r2010-2 - kr210-r2700-2 - kr210-r3100-2 + kr16_r2010_2 + kr210-r2700_2 + kr210-r3100_2 ) foreach(model IN LISTS supported_robots) diff --git a/kuka_kr_moveit_config/srdf/kr_arm_macro.xacro b/kuka_kr_moveit_config/srdf/kr_arm_macro.xacro index 8867003..a948daa 100644 --- a/kuka_kr_moveit_config/srdf/kr_arm_macro.xacro +++ b/kuka_kr_moveit_config/srdf/kr_arm_macro.xacro @@ -6,11 +6,11 @@ - + - + diff --git a/kuka_lbr_iisy_moveit_config/package.xml b/kuka_lbr_iisy_moveit_config/package.xml index 11c32a4..07ea568 100644 --- a/kuka_lbr_iisy_moveit_config/package.xml +++ b/kuka_lbr_iisy_moveit_config/package.xml @@ -2,7 +2,7 @@ kuka_lbr_iisy_moveit_config 0.1.0 - Package containing model of KUKA iisy + Package containing moveit configurations for KUKA LBR iisy family Aron Svastits BSD diff --git a/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy11_r1300_arm.srdf.xacro b/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy11_r1300_arm.srdf.xacro index d085571..a9e1e93 100644 --- a/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy11_r1300_arm.srdf.xacro +++ b/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy11_r1300_arm.srdf.xacro @@ -3,7 +3,7 @@ This is a format for representing semantic information about the robot structure. A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined --> - + diff --git a/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy15_r930_arm.srdf.xacro b/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy15_r930_arm.srdf.xacro index e0efaf5..452f1e5 100644 --- a/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy15_r930_arm.srdf.xacro +++ b/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy15_r930_arm.srdf.xacro @@ -3,7 +3,7 @@ This is a format for representing semantic information about the robot structure. A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined --> - + diff --git a/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy3_r760_arm.srdf.xacro b/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy3_r760_arm.srdf.xacro index 6dff111..b268d3b 100644 --- a/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy3_r760_arm.srdf.xacro +++ b/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy3_r760_arm.srdf.xacro @@ -3,7 +3,7 @@ This is a format for representing semantic information about the robot structure. A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined --> - + diff --git a/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy_arm.macro.xacro b/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy_arm.macro.xacro index c61a89c..f6b2578 100644 --- a/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy_arm.macro.xacro +++ b/kuka_lbr_iisy_moveit_config/srdf/lbr_iisy_arm.macro.xacro @@ -6,12 +6,12 @@ - - + + - + - + diff --git a/kuka_lbr_iisy_support/launch/test_lbr11r1300.launch.py b/kuka_lbr_iisy_support/launch/test_lbr_iisy11_r1300.launch.py similarity index 95% rename from kuka_lbr_iisy_support/launch/test_lbr11r1300.launch.py rename to kuka_lbr_iisy_support/launch/test_lbr_iisy11_r1300.launch.py index e29155c..d8b621d 100644 --- a/kuka_lbr_iisy_support/launch/test_lbr11r1300.launch.py +++ b/kuka_lbr_iisy_support/launch/test_lbr_iisy11_r1300.launch.py @@ -30,13 +30,14 @@ def generate_launch_description(): "urdf", "lbr_iisy11_r1300.urdf.xacro"] ), " ", + "use_fake_hardware:=true", ] ) robot_description = {'robot_description': robot_description_content} # RViz rviz_config_file = PathJoinSubstitution([FindPackageShare( - 'kuka_lbr_iisy_support'), "config", "simple_urdf.rviz"]) + 'kuka_resources'), "config", "view_6_axis_urdf.rviz"]) rviz_node = Node(package='rviz2', executable='rviz2', name='rviz2_launch', diff --git a/kuka_lbr_iisy_support/launch/test_lbr15r930.launch.py b/kuka_lbr_iisy_support/launch/test_lbr_iisy15_r930.launch.py similarity index 95% rename from kuka_lbr_iisy_support/launch/test_lbr15r930.launch.py rename to kuka_lbr_iisy_support/launch/test_lbr_iisy15_r930.launch.py index 4442b3b..ff03b79 100644 --- a/kuka_lbr_iisy_support/launch/test_lbr15r930.launch.py +++ b/kuka_lbr_iisy_support/launch/test_lbr_iisy15_r930.launch.py @@ -30,13 +30,14 @@ def generate_launch_description(): "urdf", "lbr_iisy15_r930.urdf.xacro"] ), " ", + "use_fake_hardware:=true", ] ) robot_description = {'robot_description': robot_description_content} # RViz rviz_config_file = PathJoinSubstitution([FindPackageShare( - 'kuka_lbr_iisy_support'), "config", "simple_urdf.rviz"]) + 'kuka_resources'), "config", "view_6_axis_urdf.rviz"]) rviz_node = Node(package='rviz2', executable='rviz2', name='rviz2_launch', diff --git a/kuka_lbr_iisy_support/launch/test_lbr_iisy3_r760.launch.py b/kuka_lbr_iisy_support/launch/test_lbr_iisy3_r760.launch.py new file mode 100644 index 0000000..74df430 --- /dev/null +++ b/kuka_lbr_iisy_support/launch/test_lbr_iisy3_r760.launch.py @@ -0,0 +1,67 @@ +# Copyright 2020 Gergely Kovács +# +# 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.substitutions import Command, FindExecutable, PathJoinSubstitution +from launch_ros.substitutions import FindPackageShare +from launch_ros.actions import Node +import xacro +import os +from ament_index_python.packages import get_package_share_directory + + + +def generate_launch_description(): + + robot_description_content = Command( + [ + PathJoinSubstitution([FindExecutable(name="xacro")]), + " ", + PathJoinSubstitution( + [FindPackageShare("kuka_lbr_iisy_support"), + "urdf", "lbr_iisy3_r760.urdf.xacro"] + ), + " ", + "use_fake_hardware:=true", + ] + ) + # robot_description_content = xacro.process_file(os.path.join(get_package_share_directory('kuka_lbr_iisy_support'), 'urdf', 'lbr_iisy3_r760.urdf.xacro')) + + robot_description = {'robot_description': robot_description_content} + + # RViz + rviz_config_file = PathJoinSubstitution([FindPackageShare( + 'kuka_resources'), "config", "view_6_axis_urdf.rviz"]) + rviz_node = Node(package='rviz2', + executable='rviz2', + name='rviz2_launch', + output='log', + arguments=['-d', rviz_config_file], + parameters=[robot_description]) + + # 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') + + return LaunchDescription([robot_state_publisher, rviz_node, joint_state_publisher]) diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/base_link.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/base_link.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/base_link.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/base_link.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/link_1.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/link_1.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/link_1.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/link_1.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/link_2.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/link_2.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/link_2.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/link_2.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/link_3.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/link_3.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/link_3.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/link_3.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/link_4.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/link_4.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/link_4.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/link_4.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/link_5.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/link_5.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/link_5.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/link_5.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/link_6.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/link_6.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy11R1300/collision/link_6.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/collision/link_6.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/base_link.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/base_link.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/base_link.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/base_link.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/link_1.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/link_1.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/link_1.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/link_1.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/link_2.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/link_2.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/link_2.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/link_2.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/link_3.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/link_3.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/link_3.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/link_3.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/link_4.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/link_4.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/link_4.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/link_4.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/link_5.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/link_5.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/link_5.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/link_5.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/link_6.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/link_6.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy11R1300/visual/link_6.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy11_r1300/visual/link_6.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/base_link.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/base_link.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/base_link.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/base_link.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/link_1.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/link_1.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/link_1.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/link_1.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/link_2.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/link_2.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/link_2.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/link_2.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/link_3.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/link_3.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/link_3.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/link_3.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/link_4.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/link_4.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/link_4.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/link_4.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/link_5.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/link_5.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/link_5.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/link_5.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/link_6.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/link_6.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy15R930/collision/link_6.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/collision/link_6.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/base_link.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/base_link.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/base_link.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/base_link.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/link_1.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/link_1.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/link_1.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/link_1.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/link_2.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/link_2.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/link_2.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/link_2.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/link_3.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/link_3.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/link_3.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/link_3.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/link_4.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/link_4.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/link_4.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/link_4.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/link_5.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/link_5.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/link_5.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/link_5.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/link_6.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/link_6.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy15R930/visual/link_6.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy15_r930/visual/link_6.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/base_link.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/base_link.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/base_link.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/base_link.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/link_1.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/link_1.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/link_1.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/link_1.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/link_2.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/link_2.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/link_2.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/link_2.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/link_3.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/link_3.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/link_3.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/link_3.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/link_4.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/link_4.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/link_4.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/link_4.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/link_5.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/link_5.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/link_5.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/link_5.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/link_6.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/link_6.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy3R760/collision/link_6.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/collision/link_6.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/base_link.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/base_link.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/base_link.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/base_link.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/link_1.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/link_1.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/link_1.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/link_1.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/link_2.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/link_2.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/link_2.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/link_2.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/link_3.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/link_3.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/link_3.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/link_3.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/link_4.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/link_4.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/link_4.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/link_4.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/link_5.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/link_5.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/link_5.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/link_5.stl diff --git a/kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/link_6.stl b/kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/link_6.stl similarity index 100% rename from kuka_lbr_iisy_support/meshes/LBRiisy3R760/visual/link_6.stl rename to kuka_lbr_iisy_support/meshes/lbr_iisy3_r760/visual/link_6.stl diff --git a/kuka_lbr_iisy_support/urdf/lbr_iisy11_r1300.urdf.xacro b/kuka_lbr_iisy_support/urdf/lbr_iisy11_r1300.urdf.xacro index df846c3..c9313f0 100644 --- a/kuka_lbr_iisy_support/urdf/lbr_iisy11_r1300.urdf.xacro +++ b/kuka_lbr_iisy_support/urdf/lbr_iisy11_r1300.urdf.xacro @@ -1,28 +1,10 @@ - - - + + + - - - - - - + + - - - - - - - - - - + + \ No newline at end of file diff --git a/kuka_lbr_iisy_support/urdf/lbr_iisy11_r1300_macro.xacro b/kuka_lbr_iisy_support/urdf/lbr_iisy11_r1300_macro.xacro index 2211c4f..a501bce 100644 --- a/kuka_lbr_iisy_support/urdf/lbr_iisy11_r1300_macro.xacro +++ b/kuka_lbr_iisy_support/urdf/lbr_iisy11_r1300_macro.xacro @@ -1,21 +1,16 @@ - + - + + use_fake_hardware="${use_fake_hardware}" /> @@ -23,7 +18,7 @@ - + @@ -34,7 +29,7 @@ - + @@ -43,7 +38,7 @@ - + @@ -54,7 +49,7 @@ - + @@ -63,7 +58,7 @@ - + @@ -74,7 +69,7 @@ - + @@ -83,7 +78,7 @@ - + @@ -94,7 +89,7 @@ - + @@ -103,7 +98,7 @@ - + @@ -114,7 +109,7 @@ - + @@ -123,7 +118,7 @@ - + @@ -134,7 +129,7 @@ - + @@ -143,7 +138,7 @@ - + @@ -154,7 +149,7 @@ - + diff --git a/kuka_lbr_iisy_support/urdf/lbr_iisy15_r930.urdf.xacro b/kuka_lbr_iisy_support/urdf/lbr_iisy15_r930.urdf.xacro index 5a9eeba..89dd0ed 100644 --- a/kuka_lbr_iisy_support/urdf/lbr_iisy15_r930.urdf.xacro +++ b/kuka_lbr_iisy_support/urdf/lbr_iisy15_r930.urdf.xacro @@ -1,28 +1,10 @@ - - - + + + - - - - - - + + - - - - - - - - - + diff --git a/kuka_lbr_iisy_support/urdf/lbr_iisy15_r930_macro.xacro b/kuka_lbr_iisy_support/urdf/lbr_iisy15_r930_macro.xacro index 71c98ab..2b3b273 100644 --- a/kuka_lbr_iisy_support/urdf/lbr_iisy15_r930_macro.xacro +++ b/kuka_lbr_iisy_support/urdf/lbr_iisy15_r930_macro.xacro @@ -1,21 +1,16 @@ - + - + + use_fake_hardware="${use_fake_hardware}" /> @@ -23,7 +18,7 @@ - + @@ -34,7 +29,7 @@ - + @@ -43,7 +38,7 @@ - + @@ -54,7 +49,7 @@ - + @@ -63,7 +58,7 @@ - + @@ -74,7 +69,7 @@ - + @@ -83,7 +78,7 @@ - + @@ -94,7 +89,7 @@ - + @@ -103,7 +98,7 @@ - + @@ -114,7 +109,7 @@ - + @@ -123,7 +118,7 @@ - + @@ -134,7 +129,7 @@ - + @@ -143,7 +138,7 @@ - + @@ -154,7 +149,7 @@ - + diff --git a/kuka_lbr_iisy_support/urdf/lbr_iisy3_r760.urdf.xacro b/kuka_lbr_iisy_support/urdf/lbr_iisy3_r760.urdf.xacro index 6b7cf34..bf925b0 100644 --- a/kuka_lbr_iisy_support/urdf/lbr_iisy3_r760.urdf.xacro +++ b/kuka_lbr_iisy_support/urdf/lbr_iisy3_r760.urdf.xacro @@ -1,31 +1,10 @@ - - - + + + - - - - - - + + - - - - - - - - - - - + diff --git a/kuka_lbr_iisy_support/urdf/lbr_iisy3_r760_macro.xacro b/kuka_lbr_iisy_support/urdf/lbr_iisy3_r760_macro.xacro index 05957f6..fd7dd9e 100644 --- a/kuka_lbr_iisy_support/urdf/lbr_iisy3_r760_macro.xacro +++ b/kuka_lbr_iisy_support/urdf/lbr_iisy3_r760_macro.xacro @@ -1,21 +1,15 @@ - + - + @@ -24,7 +18,7 @@ - + @@ -35,7 +29,7 @@ - + @@ -44,7 +38,7 @@ - + @@ -55,7 +49,7 @@ - + @@ -64,7 +58,7 @@ - + @@ -75,7 +69,7 @@ - + @@ -84,7 +78,7 @@ - + @@ -95,7 +89,7 @@ - + @@ -104,7 +98,7 @@ - + @@ -115,7 +109,7 @@ - + @@ -124,7 +118,7 @@ - + @@ -135,7 +129,7 @@ - + @@ -144,7 +138,7 @@ - + @@ -155,7 +149,7 @@ - + diff --git a/kuka_lbr_iisy_support/urdf/lbr_iisy_ros2_control.xacro b/kuka_lbr_iisy_support/urdf/lbr_iisy_ros2_control.xacro index 4b23d85..fc8a4f5 100644 --- a/kuka_lbr_iisy_support/urdf/lbr_iisy_ros2_control.xacro +++ b/kuka_lbr_iisy_support/urdf/lbr_iisy_ros2_control.xacro @@ -1,6 +1,6 @@ - + @@ -9,6 +9,20 @@ 0.0 + + + + + + + + + + + + + + kuka_rox::KukaRoXHardwareInterface ${client_ip} ${controller_ip} diff --git a/kuka_lbr_iiwa7_support/config/urdflbriiwa7_control.yaml b/kuka_lbr_iiwa7_support/config/urdflbriiwa7_control.yaml deleted file mode 100755 index 1ad411a..0000000 --- a/kuka_lbr_iiwa7_support/config/urdflbriiwa7_control.yaml +++ /dev/null @@ -1,66 +0,0 @@ -lbriiwa7: - # Publish all joint states ----------------------------------- - joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: 50 - - # Position Controllers --------------------------------------- - LBRiiwa7Joint1_position_controller: - type: effort_controllers/JointPositionController - joint: LBRiiwa7Joint1 - pid: {p: 100, i: 0.01, d: 10} - LBRiiwa7Joint2_position_controller: - type: effort_controllers/JointPositionController - joint: LBRiiwa7Joint2 - pid: {p: 100, i: 0.01, d: 10} - LBRiiwa7Joint3_position_controller: - type: effort_controllers/JointPositionController - joint: LBRiiwa7Joint3 - pid: {p: 100, i: 0.01, d: 10} - LBRiiwa7Joint4_position_controller: - type: effort_controllers/JointPositionController - joint: LBRiiwa7Joint4 - pid: {p: 100, i: 0.01, d: 10} - LBRiiwa7Joint5_position_controller: - type: effort_controllers/JointPositionController - joint: LBRiiwa7Joint5 - pid: {p: 100, i: 0.01, d: 10} - LBRiiwa7Joint6_position_controller: - type: effort_controllers/JointPositionController - joint: LBRiiwa7Joint6 - pid: {p: 100, i: 0.01, d: 10} - LBRiiwa7Joint7_position_controller: - type: effort_controllers/JointPositionController - joint: LBRiiwa7Joint7 - pid: {p: 100, i: 0.01, d: 10} - - # Effort Controllers --------------------------------------- - LBRiiwa7Joint1_torque_controller: - type: effort_controllers/JointEffortController - joint: LBRiiwa7Joint1 - pid: {p: 100, i: 0.01, d: 10} - LBRiiwa7Joint2_torque_controller: - type: effort_controllers/JointEffortController - joint: LBRiiwa7Joint2 - pid: {p: 100, i: 0.01, d: 10} - LBRiiwa7Joint3_torque_controller: - type: effort_controllers/JointEffortController - joint: LBRiiwa7Joint3 - pid: {p: 100, i: 0.01, d: 10} - LBRiiwa7Joint4_torque_controller: - type: effort_controllers/JointEffortController - joint: LBRiiwa7Joint4 - pid: {p: 100, i: 0.01, d: 10} - LBRiiwa7Joint5_torque_controller: - type: effort_controllers/JointEffortController - joint: LBRiiwa7Joint5 - pid: {p: 100, i: 0.01, d: 10} - LBRiiwa7Joint6_torque_controller: - type: effort_controllers/JointEffortController - joint: LBRiiwa7Joint6 - pid: {p: 100, i: 0.01, d: 10} - LBRiiwa7Joint7_torque_controller: - type: effort_controllers/JointEffortController - joint: LBRiiwa7Joint7 - pid: {p: 100, i: 0.01, d: 10} - diff --git a/kuka_lbr_iiwa7_support/launch/full.launch.py b/kuka_lbr_iiwa7_support/launch/full.launch.py deleted file mode 100644 index 4d8f534..0000000 --- a/kuka_lbr_iiwa7_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_iiwa7_support/launch/rviz.launch.py b/kuka_lbr_iiwa7_support/launch/rviz.launch.py deleted file mode 100644 index 80ec168..0000000 --- a/kuka_lbr_iiwa7_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_iiwa7_support/urdf/lbriiwa7.srdf b/kuka_lbr_iiwa7_support/urdf/lbriiwa7.srdf deleted file mode 100644 index a1542f3..0000000 --- a/kuka_lbr_iiwa7_support/urdf/lbriiwa7.srdf +++ /dev/null @@ -1,44 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/kuka_lbr_iiwa7_support/urdf/lbriiwa7.xacro b/kuka_lbr_iiwa7_support/urdf/lbriiwa7.xacro deleted file mode 100755 index 15a3418..0000000 --- a/kuka_lbr_iiwa7_support/urdf/lbriiwa7.xacro +++ /dev/null @@ -1,5 +0,0 @@ - - - - - diff --git a/kuka_lbr_iiwa7_support/urdf/lbriiwa7_macro.xacro b/kuka_lbr_iiwa7_support/urdf/lbriiwa7_macro.xacro deleted file mode 100755 index 35c2b11..0000000 --- a/kuka_lbr_iiwa7_support/urdf/lbriiwa7_macro.xacro +++ /dev/null @@ -1,432 +0,0 @@ - - - - - - kuka_sunrise::KUKAFRIHardwareInterface - - - - - -1 - 1 - - - -1 - 1 - - - - - - - - -1 - 1 - - - -1 - 1 - - - - - - - - -1 - 1 - - - -1 - 1 - - - - - - - - -1 - 1 - - - -1 - 1 - - - - - - - - -1 - 1 - - - -1 - 1 - - - - - - - - -1 - 1 - - - -1 - 1 - - - - - - - - -1 - 1 - - - -1 - 1 - - - - - - - - - - - - - - - - - /lbriiwa7 - gazebo_ros2_control/DefaultRobotHWSim - $(find kuka_lbr_iiwa7_support)/config/lbriiwa7_control.yaml - - - - true - Gazebo/Orange - - - true - Gazebo/Orange - - - true - Gazebo/Orange - - - true - Gazebo/Orange - - - true - Gazebo/Orange - - - true - Gazebo/Orange - - - true - Gazebo/Orange - - - true - Gazebo/Orange - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - EffortJointInterface - 1.0 - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - EffortJointInterface - 1.0 - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - EffortJointInterface - 1.0 - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - EffortJointInterface - 1.0 - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - EffortJointInterface - 1.0 - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - EffortJointInterface - 1.0 - - - - transmission_interface/SimpleTransmission - - hardware_interface/EffortJointInterface - - - EffortJointInterface - 1.0 - - - - diff --git a/kuka_lbr_iiwa_moveit_config/CMakeLists.txt b/kuka_lbr_iiwa_moveit_config/CMakeLists.txt new file mode 100644 index 0000000..045a2ab --- /dev/null +++ b/kuka_lbr_iiwa_moveit_config/CMakeLists.txt @@ -0,0 +1,14 @@ +cmake_minimum_required(VERSION 3.5) + +project(kuka_lbr_iiwa_moveit_config) + +find_package(ament_cmake REQUIRED) +find_package(urdf REQUIRED) +find_package(xacro REQUIRED) + +xacro_add_files(TARGET iiwa14 srdf/lbr_iiwa14_r820_arm.srdf.xacro OUTPUT lbr_iiwa14_r820.srdf INSTALL DESTINATION urdf) + +install(DIRECTORY config + DESTINATION share/${PROJECT_NAME}) + +ament_package() diff --git a/kuka_lbr_iiwa_moveit_config/config/chomp_planning.yaml b/kuka_lbr_iiwa_moveit_config/config/chomp_planning.yaml new file mode 100644 index 0000000..c1da284 --- /dev/null +++ b/kuka_lbr_iiwa_moveit_config/config/chomp_planning.yaml @@ -0,0 +1,35 @@ +planning_plugin: chomp_interface/CHOMPPlanner +request_adapters: >- + default_planner_request_adapters/AddTimeOptimalParameterization + default_planner_request_adapters/FixWorkspaceBounds + default_planner_request_adapters/FixStartStateBounds + default_planner_request_adapters/FixStartStateCollision + default_planner_request_adapters/FixStartStatePathConstraints +start_state_max_bounds_error: 0.1 +planning_time_limit: 10.0 +max_iterations: 200 +max_iterations_after_collision_free: 5 +smoothness_cost_weight: 0.1 +obstacle_cost_weight: 1.0 +learning_rate: 0.01 +animate_path: true +add_randomness: false +smoothness_cost_velocity: 0.0 +smoothness_cost_acceleration: 1.0 +smoothness_cost_jerk: 0.0 +hmc_discretization: 0.01 +hmc_stochasticity: 0.01 +hmc_annealing_factor: 0.99 +use_hamiltonian_monte_carlo: false +ridge_factor: 0.0 +use_pseudo_inverse: false +pseudo_inverse_ridge_factor: 1e-4 +animate_endeffector: false +joint_update_limit: 0.1 +collision_clearance: 0.2 +collision_threshold: 0.07 +random_jump_amount: 1.0 +use_stochastic_descent: true +enable_failure_recovery: false +max_recovery_attempts: 5 +trajectory_initialization_method: "quintic-spline" \ No newline at end of file diff --git a/kuka_lbr_iiwa_moveit_config/config/kinematics.yaml b/kuka_lbr_iiwa_moveit_config/config/kinematics.yaml new file mode 100644 index 0000000..f568f71 --- /dev/null +++ b/kuka_lbr_iiwa_moveit_config/config/kinematics.yaml @@ -0,0 +1,4 @@ +lbr_iisy_arm: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.05 diff --git a/kuka_lbr_iiwa_moveit_config/config/moveit_controllers.yaml b/kuka_lbr_iiwa_moveit_config/config/moveit_controllers.yaml new file mode 100644 index 0000000..8f6467e --- /dev/null +++ b/kuka_lbr_iiwa_moveit_config/config/moveit_controllers.yaml @@ -0,0 +1,25 @@ +# MoveIt uses this configuration for controller management +trajectory_execution: + allowed_execution_duration_scaling: 1.2 + allowed_goal_duration_margin: 0.5 + allowed_start_tolerance: 0.01 + +moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager + +moveit_simple_controller_manager: + controller_names: + - joint_trajectory_controller + + joint_trajectory_controller: + action_ns: follow_joint_trajectory + type: FollowJointTrajectory + default: true + joints: + - joint_a1 + - joint_a2 + - joint_a3 + - joint_a4 + - joint_a5 + - joint_a6 + - joint_a7 + diff --git a/kuka_lbr_iiwa_moveit_config/config/ompl_planning.yaml b/kuka_lbr_iiwa_moveit_config/config/ompl_planning.yaml new file mode 100644 index 0000000..ccf1a06 --- /dev/null +++ b/kuka_lbr_iiwa_moveit_config/config/ompl_planning.yaml @@ -0,0 +1,172 @@ +planning_plugin: ompl_interface/OMPLPlanner +# To optionally use Ruckig for jerk-limited smoothing, add this line to the request adapters below +# default_planner_request_adapters/AddRuckigTrajectorySmoothing +request_adapters: >- + default_planner_request_adapters/AddTimeOptimalParameterization + default_planner_request_adapters/ResolveConstraintFrames + default_planner_request_adapters/FixWorkspaceBounds + default_planner_request_adapters/FixStartStateBounds + default_planner_request_adapters/FixStartStateCollision + default_planner_request_adapters/FixStartStatePathConstraints +start_state_max_bounds_error: 0.1 +planner_configs: + APSConfigDefault: + type: geometric::AnytimePathShortening + shortcut: 1 # Attempt to shortcut all new solution paths + hybridize: 1 # Compute hybrid solution trajectories + max_hybrid_paths: 36 # Number of hybrid paths generated per iteration + num_planners: 8 # The number of default planners to use for planning + planners: "RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect,RRTConnect" # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]" + SBLkConfigDefault: + type: geometric::SBL + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ESTkConfigDefault: + type: geometric::EST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LBKPIECEkConfigDefault: + type: geometric::LBKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + BKPIECEkConfigDefault: + type: geometric::BKPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + KPIECEkConfigDefault: + type: geometric::KPIECE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + border_fraction: 0.9 # Fraction of time focused on boarder default: 0.9 (0.0,1.] + failed_expansion_score_factor: 0.5 # When extending motion fails, scale score by factor. default: 0.5 + min_valid_path_fraction: 0.5 # Accept partially valid moves above fraction. default: 0.5 + RRTkConfigDefault: + type: geometric::RRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + RRTConnectkConfigDefault: + type: geometric::RRTConnect + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + RRTstarkConfigDefault: + type: geometric::RRTstar + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + delay_collision_checking: 1 # Stop collision checking as soon as C-free parent found. default 1 + TRRTkConfigDefault: + type: geometric::TRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability? default: 0.05 + max_states_failed: 10 # when to start increasing temp. default: 10 + temp_change_factor: 2.0 # how much to increase or decrease temp. default: 2.0 + min_temperature: 10e-10 # lower limit of temp change. default: 10e-10 + init_temperature: 10e-6 # initial temperature. default: 10e-6 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountierNodeRatio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + k_constant: 0.0 # value used to normalize expresssion. default: 0.0 set in setup() + PRMkConfigDefault: + type: geometric::PRM + max_nearest_neighbors: 10 # use k nearest neighbors. default: 10 + PRMstarkConfigDefault: + type: geometric::PRMstar + FMTkConfigDefault: + type: geometric::FMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.1 # multiplier used for the nearest neighbors search radius. default: 1.1 + nearest_k: 1 # use Knearest strategy. default: 1 + cache_cc: 1 # use collision checking cache. default: 1 + heuristics: 0 # activate cost to go heuristics. default: 0 + extended_fmt: 1 # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + BFMTkConfigDefault: + type: geometric::BFMT + num_samples: 1000 # number of states that the planner should sample. default: 1000 + radius_multiplier: 1.0 # multiplier used for the nearest neighbors search radius. default: 1.0 + nearest_k: 1 # use the Knearest strategy. default: 1 + balanced: 0 # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1 + optimality: 1 # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1 + heuristics: 1 # activates cost to go heuristics. default: 1 + cache_cc: 1 # use the collision checking cache. default: 1 + extended_fmt: 1 # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1 + PDSTkConfigDefault: + type: geometric::PDST + STRIDEkConfigDefault: + type: geometric::STRIDE + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + use_projected_distance: 0 # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0 + degree: 16 # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16 + max_degree: 18 # max degree of a node in the GNAT. default: 12 + min_degree: 12 # min degree of a node in the GNAT. default: 12 + max_pts_per_leaf: 6 # max points per leaf in the GNAT. default: 6 + estimated_dimension: 0.0 # estimated dimension of the free space. default: 0.0 + min_valid_path_fraction: 0.2 # Accept partially valid moves above fraction. default: 0.2 + BiTRRTkConfigDefault: + type: geometric::BiTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + temp_change_factor: 0.1 # how much to increase or decrease temp. default: 0.1 + init_temperature: 100 # initial temperature. default: 100 + frountier_threshold: 0.0 # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup() + frountier_node_ratio: 0.1 # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1 + cost_threshold: 1e300 # the cost threshold. Any motion cost that is not better will not be expanded. default: inf + LBTRRTkConfigDefault: + type: geometric::LBTRRT + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + epsilon: 0.4 # optimality approximation factor. default: 0.4 + BiESTkConfigDefault: + type: geometric::BiEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + ProjESTkConfigDefault: + type: geometric::ProjEST + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + goal_bias: 0.05 # When close to goal select goal, with this probability. default: 0.05 + LazyPRMkConfigDefault: + type: geometric::LazyPRM + range: 0.0 # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup() + LazyPRMstarkConfigDefault: + type: geometric::LazyPRMstar + SPARSkConfigDefault: + type: geometric::SPARS + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 1000 # maximum consecutive failure limit. default: 1000 + SPARStwokConfigDefault: + type: geometric::SPARStwo + stretch_factor: 3.0 # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0 + sparse_delta_fraction: 0.25 # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25 + dense_delta_fraction: 0.001 # delta fraction for interface detection. default: 0.001 + max_failures: 5000 # maximum consecutive failure limit. default: 5000 + TrajOptDefault: + type: geometric::TrajOpt + +lbr_iisy_arm: + enforce_constrained_state_space: true + projection_evaluator: joints(joint_a1,joint_a2) + planner_configs: + - APSConfigDefault + - SBLkConfigDefault + - ESTkConfigDefault + - LBKPIECEkConfigDefault + - BKPIECEkConfigDefault + - KPIECEkConfigDefault + - RRTkConfigDefault + - RRTConnectkConfigDefault + - RRTstarkConfigDefault + - TRRTkConfigDefault + - PRMkConfigDefault + - PRMstarkConfigDefault + - FMTkConfigDefault + - BFMTkConfigDefault + - PDSTkConfigDefault + - STRIDEkConfigDefault + - BiTRRTkConfigDefault + - LBTRRTkConfigDefault + - BiESTkConfigDefault + - ProjESTkConfigDefault + - LazyPRMkConfigDefault + - LazyPRMstarkConfigDefault + - SPARSkConfigDefault + - SPARStwokConfigDefault + - TrajOptDefault \ No newline at end of file diff --git a/kuka_lbr_iiwa_moveit_config/config/pilz_cartesian_limits.yaml b/kuka_lbr_iiwa_moveit_config/config/pilz_cartesian_limits.yaml new file mode 100644 index 0000000..507326b --- /dev/null +++ b/kuka_lbr_iiwa_moveit_config/config/pilz_cartesian_limits.yaml @@ -0,0 +1,6 @@ +# Cartesian limits for the Pilz planner +cartesian_limits: + max_trans_vel: 1.0 + max_trans_acc: 2.25 + max_trans_dec: -5.0 + max_rot_vel: 1.57 diff --git a/kuka_lbr_iiwa_moveit_config/config/stomp_planning.yaml b/kuka_lbr_iiwa_moveit_config/config/stomp_planning.yaml new file mode 100644 index 0000000..399484a --- /dev/null +++ b/kuka_lbr_iiwa_moveit_config/config/stomp_planning.yaml @@ -0,0 +1,17 @@ +planning_plugin: stomp_moveit/StompPlanner +request_adapters: >- + default_planner_request_adapters/AddTimeOptimalParameterization + default_planner_request_adapters/FixWorkspaceBounds + default_planner_request_adapters/FixStartStateBounds + default_planner_request_adapters/FixStartStateCollision + default_planner_request_adapters/FixStartStatePathConstraints + +stomp_moveit: + num_timesteps: 60 + num_iterations: 40 + num_iterations_after_valid: 0 + num_rollouts: 30 + max_rollouts: 30 + exponentiated_cost_sensitivity: 0.5 + control_cost_weight: 0.1 + delta_t: 0.1 \ No newline at end of file diff --git a/kuka_lbr_iiwa_moveit_config/config/urdf_planning_scene.rviz b/kuka_lbr_iiwa_moveit_config/config/urdf_planning_scene.rviz new file mode 100644 index 0000000..6fc0fde --- /dev/null +++ b/kuka_lbr_iiwa_moveit_config/config/urdf_planning_scene.rviz @@ -0,0 +1,419 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /PlanningScene1/Scene Robot1 + Splitter Ratio: 0.5 + Tree Height: 525 + - 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 + - Class: rviz_visual_tools/RvizVisualToolsGui + Name: RvizVisualToolsGui +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: false + 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: false + - Class: moveit_rviz_plugin/PlanningScene + Enabled: true + Move Group Namespace: "" + Name: PlanningScene + Planning Scene Topic: /monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 0.8999999761581421 + Scene Color: 50; 230; 50 + Scene Display Time: 0.20000000298023224 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + 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 + Robot Alpha: 1 + Show Robot Collision: false + Show Robot Visual: true + Value: 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 + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MarkerArray + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: rviz_visual_tools + Value: true + - Class: moveit_rviz_plugin/Trajectory + Color Enabled: false + Enabled: true + Interrupt Display: false + 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 + Loop Animation: false + Name: Trajectory + Robot Alpha: 0.5 + Robot Color: 150; 50; 150 + Robot Description: robot_description + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 3x + Trail Step Size: 1 + Trajectory Topic: /display_planned_path + Use Sim Time: false + 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: 896 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ RvizVisualToolsGui: + collapsed: false + Selection: + collapsed: false + Tool Properties: + collapsed: false + Trajectory - Trajectory Slider: + collapsed: false + Views: + collapsed: false + Width: 1846 + X: 74 + Y: 27 diff --git a/kuka_lbr_iiwa_moveit_config/package.xml b/kuka_lbr_iiwa_moveit_config/package.xml new file mode 100644 index 0000000..bf14f62 --- /dev/null +++ b/kuka_lbr_iiwa_moveit_config/package.xml @@ -0,0 +1,25 @@ + + + kuka_lbr_iiwa_moveit_config + 0.1.0 + Package containing moveit configurations for KUKA LBR iiwa family + Aron Svastits + + BSD + + ament_cmake + ament_copyright + ament_flake8 + ament_pep257 + + xacro + + joint_state_publisher + robot_state_publisher + rviz2 + + + + ament_cmake + + diff --git a/kuka_lbr_iiwa_moveit_config/srdf/lbr_iiwa14_r820_arm.srdf.xacro b/kuka_lbr_iiwa_moveit_config/srdf/lbr_iiwa14_r820_arm.srdf.xacro new file mode 100644 index 0000000..1373660 --- /dev/null +++ b/kuka_lbr_iiwa_moveit_config/srdf/lbr_iiwa14_r820_arm.srdf.xacro @@ -0,0 +1,9 @@ + + + + + + diff --git a/kuka_lbr_iiwa_moveit_config/srdf/lbr_iiwa_arm.macro.xacro b/kuka_lbr_iiwa_moveit_config/srdf/lbr_iiwa_arm.macro.xacro new file mode 100644 index 0000000..4ed9db9 --- /dev/null +++ b/kuka_lbr_iiwa_moveit_config/srdf/lbr_iiwa_arm.macro.xacro @@ -0,0 +1,44 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/kuka_lbr_iiwa7_support/CMakeLists.txt b/kuka_lbr_iiwa_support/CMakeLists.txt similarity index 93% rename from kuka_lbr_iiwa7_support/CMakeLists.txt rename to kuka_lbr_iiwa_support/CMakeLists.txt index 6a72639..c90db08 100755 --- a/kuka_lbr_iiwa7_support/CMakeLists.txt +++ b/kuka_lbr_iiwa_support/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.5) -project(kuka_lbr_iiwa7_support) +project(kuka_lbr_iiwa_support) # Default to C99 if(NOT CMAKE_C_STANDARD) diff --git a/kuka_lbr_iiwa_support/config/lbr_iiwa14_r820_joint_limits.yaml b/kuka_lbr_iiwa_support/config/lbr_iiwa14_r820_joint_limits.yaml new file mode 100644 index 0000000..22bc96e --- /dev/null +++ b/kuka_lbr_iiwa_support/config/lbr_iiwa14_r820_joint_limits.yaml @@ -0,0 +1,33 @@ +# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed +# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration, max_jerk] +# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits] + +# The default config of moveit does not take into account the jerk limits, the RuckigTrajectorySmoothing adapter must be +# added to the planning pipeline to support jerk limits # TODO: check if jerk dimensions are ok!! + +# Easiest way to slow down the robot is to decrease the velocity and acceleration scaling factors +default_velocity_scaling_factor: 1.0 +default_acceleration_scaling_factor: 1.0 +joint_limits: + joint_a1: + has_velocity_limits: true + max_velocity: 6.283 + joint_a2: + has_velocity_limits: true + max_velocity: 6.283 + joint_a3: + has_velocity_limits: true + max_velocity: 6.283 + joint_a4: + has_velocity_limits: true + max_velocity: 6.283 + joint_a5: + has_velocity_limits: true + max_velocity: 6.283 + joint_a6: + has_velocity_limits: true + max_velocity: 6.283 + joint_a7: + has_velocity_limits: true + max_velocity: 6.283 + diff --git a/kuka_lbr_iisy_support/launch/test_lbr3r760.launch.py b/kuka_lbr_iiwa_support/launch/test_lbr_iiwa14_r820.launch.py similarity index 90% rename from kuka_lbr_iisy_support/launch/test_lbr3r760.launch.py rename to kuka_lbr_iiwa_support/launch/test_lbr_iiwa14_r820.launch.py index 8e3d1d9..19f6ff1 100644 --- a/kuka_lbr_iisy_support/launch/test_lbr3r760.launch.py +++ b/kuka_lbr_iiwa_support/launch/test_lbr_iiwa14_r820.launch.py @@ -26,17 +26,18 @@ def generate_launch_description(): PathJoinSubstitution([FindExecutable(name="xacro")]), " ", PathJoinSubstitution( - [FindPackageShare("kuka_lbr_iisy_support"), - "urdf", "lbr_iisy3_r760.urdf.xacro"] + [FindPackageShare("kuka_lbr_iiwa_support"), + "urdf", "lbr_iiwa14_r820.urdf.xacro"] ), " ", + "use_fake_hardware:=true", ] ) robot_description = {'robot_description': robot_description_content} # RViz rviz_config_file = PathJoinSubstitution([FindPackageShare( - 'kuka_lbr_iisy_support'), "config", "simple_urdf.rviz"]) + 'kuka_resources'), "config", "view_7_axis_urdf.rviz"]) rviz_node = Node(package='rviz2', executable='rviz2', name='rviz2_launch', diff --git a/kuka_lbr_iiwa7_support/meshes/collision/iiwa_r820_link_0_collision_v0.1_iiwa_r820_link_0_collision.stl b/kuka_lbr_iiwa_support/meshes/lbr_iiwa14_r820/collision/base_link.stl similarity index 100% rename from kuka_lbr_iiwa7_support/meshes/collision/iiwa_r820_link_0_collision_v0.1_iiwa_r820_link_0_collision.stl rename to kuka_lbr_iiwa_support/meshes/lbr_iiwa14_r820/collision/base_link.stl diff --git a/kuka_lbr_iiwa7_support/meshes/collision/iiwa_r820_link_1_collision_v0.1_iiwa_r820_link_1_collision.stl b/kuka_lbr_iiwa_support/meshes/lbr_iiwa14_r820/collision/link_1.stl similarity index 100% rename from kuka_lbr_iiwa7_support/meshes/collision/iiwa_r820_link_1_collision_v0.1_iiwa_r820_link_1_collision.stl rename to kuka_lbr_iiwa_support/meshes/lbr_iiwa14_r820/collision/link_1.stl diff --git a/kuka_lbr_iiwa7_support/meshes/collision/iiwa_r820_link_2_collision_v0.1_iiwa_r820_link_2_collision.stl b/kuka_lbr_iiwa_support/meshes/lbr_iiwa14_r820/collision/link_2.stl similarity index 100% rename from kuka_lbr_iiwa7_support/meshes/collision/iiwa_r820_link_2_collision_v0.1_iiwa_r820_link_2_collision.stl rename to kuka_lbr_iiwa_support/meshes/lbr_iiwa14_r820/collision/link_2.stl diff --git a/kuka_lbr_iiwa7_support/meshes/collision/iiwa_r820_link_3_collision_v0.1_iiwa_r820_link_3_collision.stl b/kuka_lbr_iiwa_support/meshes/lbr_iiwa14_r820/collision/link_3.stl similarity index 100% rename from kuka_lbr_iiwa7_support/meshes/collision/iiwa_r820_link_3_collision_v0.1_iiwa_r820_link_3_collision.stl rename to kuka_lbr_iiwa_support/meshes/lbr_iiwa14_r820/collision/link_3.stl diff --git a/kuka_lbr_iiwa7_support/meshes/collision/iiwa_r820_link_4_collision_v0.1_iiwa_r820_link_4_collision.stl b/kuka_lbr_iiwa_support/meshes/lbr_iiwa14_r820/collision/link_4.stl similarity index 100% rename from kuka_lbr_iiwa7_support/meshes/collision/iiwa_r820_link_4_collision_v0.1_iiwa_r820_link_4_collision.stl rename to kuka_lbr_iiwa_support/meshes/lbr_iiwa14_r820/collision/link_4.stl diff --git a/kuka_lbr_iiwa7_support/meshes/collision/iiwa_r820_link_5_collision_v0.1_iiwa_r820_link_5_collision.stl b/kuka_lbr_iiwa_support/meshes/lbr_iiwa14_r820/collision/link_5.stl similarity index 100% rename from kuka_lbr_iiwa7_support/meshes/collision/iiwa_r820_link_5_collision_v0.1_iiwa_r820_link_5_collision.stl rename to kuka_lbr_iiwa_support/meshes/lbr_iiwa14_r820/collision/link_5.stl diff --git a/kuka_lbr_iiwa7_support/meshes/collision/iiwa_r820_link_6_collision_v0.1_iiwa_r820_link_6_collision.stl b/kuka_lbr_iiwa_support/meshes/lbr_iiwa14_r820/collision/link_6.stl similarity index 100% rename from kuka_lbr_iiwa7_support/meshes/collision/iiwa_r820_link_6_collision_v0.1_iiwa_r820_link_6_collision.stl rename to kuka_lbr_iiwa_support/meshes/lbr_iiwa14_r820/collision/link_6.stl diff --git a/kuka_lbr_iiwa7_support/meshes/collision/iiwa_r820_link_7_collision_v0.1_iiwa_r820_link_7_collision.stl b/kuka_lbr_iiwa_support/meshes/lbr_iiwa14_r820/collision/link_7.stl similarity index 100% rename from kuka_lbr_iiwa7_support/meshes/collision/iiwa_r820_link_7_collision_v0.1_iiwa_r820_link_7_collision.stl rename to kuka_lbr_iiwa_support/meshes/lbr_iiwa14_r820/collision/link_7.stl diff --git a/kuka_lbr_iiwa7_support/meshes/visual/iiwa_r820_link_0_hull_v0.1_iiwa_r820_link_0_hull.stl b/kuka_lbr_iiwa_support/meshes/lbr_iiwa14_r820/visual/base_link.stl similarity index 100% rename from kuka_lbr_iiwa7_support/meshes/visual/iiwa_r820_link_0_hull_v0.1_iiwa_r820_link_0_hull.stl rename to kuka_lbr_iiwa_support/meshes/lbr_iiwa14_r820/visual/base_link.stl diff --git a/kuka_lbr_iiwa7_support/meshes/visual/iiwa_r820_link_1_hull_v0.1_iiwa_r820_link_1_hull.stl b/kuka_lbr_iiwa_support/meshes/lbr_iiwa14_r820/visual/link_1.stl similarity index 100% rename from kuka_lbr_iiwa7_support/meshes/visual/iiwa_r820_link_1_hull_v0.1_iiwa_r820_link_1_hull.stl rename to kuka_lbr_iiwa_support/meshes/lbr_iiwa14_r820/visual/link_1.stl diff --git a/kuka_lbr_iiwa7_support/meshes/visual/iiwa_r820_link_2_hull_v0.1_iiwa_r820_link_2_hull.stl b/kuka_lbr_iiwa_support/meshes/lbr_iiwa14_r820/visual/link_2.stl similarity index 100% rename from kuka_lbr_iiwa7_support/meshes/visual/iiwa_r820_link_2_hull_v0.1_iiwa_r820_link_2_hull.stl rename to kuka_lbr_iiwa_support/meshes/lbr_iiwa14_r820/visual/link_2.stl diff --git a/kuka_lbr_iiwa7_support/meshes/visual/iiwa_r820_link_3_hull_v0.1_iiwa_r820_link_3_hull.stl b/kuka_lbr_iiwa_support/meshes/lbr_iiwa14_r820/visual/link_3.stl similarity index 100% rename from kuka_lbr_iiwa7_support/meshes/visual/iiwa_r820_link_3_hull_v0.1_iiwa_r820_link_3_hull.stl rename to kuka_lbr_iiwa_support/meshes/lbr_iiwa14_r820/visual/link_3.stl diff --git a/kuka_lbr_iiwa7_support/meshes/visual/iiwa_r820_link_4_hull_v0.1_iiwa_r820_link_4_hull.stl b/kuka_lbr_iiwa_support/meshes/lbr_iiwa14_r820/visual/link_4.stl similarity index 100% rename from kuka_lbr_iiwa7_support/meshes/visual/iiwa_r820_link_4_hull_v0.1_iiwa_r820_link_4_hull.stl rename to kuka_lbr_iiwa_support/meshes/lbr_iiwa14_r820/visual/link_4.stl diff --git a/kuka_lbr_iiwa7_support/meshes/visual/iiwa_r820_link_5_hull_v0.1_iiwa_r820_link_5_hull.stl b/kuka_lbr_iiwa_support/meshes/lbr_iiwa14_r820/visual/link_5.stl similarity index 100% rename from kuka_lbr_iiwa7_support/meshes/visual/iiwa_r820_link_5_hull_v0.1_iiwa_r820_link_5_hull.stl rename to kuka_lbr_iiwa_support/meshes/lbr_iiwa14_r820/visual/link_5.stl diff --git a/kuka_lbr_iiwa7_support/meshes/visual/iiwa_r820_link_6_hull_v0.1_iiwa_r820_link_6_hull.stl b/kuka_lbr_iiwa_support/meshes/lbr_iiwa14_r820/visual/link_6.stl similarity index 100% rename from kuka_lbr_iiwa7_support/meshes/visual/iiwa_r820_link_6_hull_v0.1_iiwa_r820_link_6_hull.stl rename to kuka_lbr_iiwa_support/meshes/lbr_iiwa14_r820/visual/link_6.stl diff --git a/kuka_lbr_iiwa7_support/meshes/visual/iiwa_r820_link_7_hull_v0.1_iiwa_r820_link_7_hull.stl b/kuka_lbr_iiwa_support/meshes/lbr_iiwa14_r820/visual/link_7.stl similarity index 100% rename from kuka_lbr_iiwa7_support/meshes/visual/iiwa_r820_link_7_hull_v0.1_iiwa_r820_link_7_hull.stl rename to kuka_lbr_iiwa_support/meshes/lbr_iiwa14_r820/visual/link_7.stl diff --git a/kuka_lbr_iiwa7_support/package.xml b/kuka_lbr_iiwa_support/package.xml similarity index 68% rename from kuka_lbr_iiwa7_support/package.xml rename to kuka_lbr_iiwa_support/package.xml index 90766b4..3f66198 100755 --- a/kuka_lbr_iiwa7_support/package.xml +++ b/kuka_lbr_iiwa_support/package.xml @@ -1,10 +1,10 @@ - kuka_lbr_iiwa7_support + kuka_lbr_iiwa_support 0.0.0 - ROS2 support package for the KUKA LBR iiwa 7 - Áron Svastits + ROS2 support package for the KUKA LBR iiwa + Áron Svastits Apache 2.0 ament_cmake diff --git a/kuka_lbr_iiwa_support/urdf/lbr_iiwa14_r820.urdf.xacro b/kuka_lbr_iiwa_support/urdf/lbr_iiwa14_r820.urdf.xacro new file mode 100755 index 0000000..6d4a332 --- /dev/null +++ b/kuka_lbr_iiwa_support/urdf/lbr_iiwa14_r820.urdf.xacro @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/kuka_lbr_iiwa_support/urdf/lbr_iiwa14_r820_macro.xacro b/kuka_lbr_iiwa_support/urdf/lbr_iiwa14_r820_macro.xacro new file mode 100755 index 0000000..d808a17 --- /dev/null +++ b/kuka_lbr_iiwa_support/urdf/lbr_iiwa14_r820_macro.xacro @@ -0,0 +1,251 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/kuka_lbr_iiwa_support/urdf/lbr_iiwa_ros2_control.xacro b/kuka_lbr_iiwa_support/urdf/lbr_iiwa_ros2_control.xacro new file mode 100644 index 0000000..b195c23 --- /dev/null +++ b/kuka_lbr_iiwa_support/urdf/lbr_iiwa_ros2_control.xacro @@ -0,0 +1,77 @@ + + + + + + + mock_components/GenericSystem + false + 0.0 + + + kuka_sunrise::KUKAFRIHardwareInterface + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/kuka_lbr_iiwa_support/urdf/lbr_iiwa_transmission.xacro b/kuka_lbr_iiwa_support/urdf/lbr_iiwa_transmission.xacro new file mode 100644 index 0000000..8bc0afa --- /dev/null +++ b/kuka_lbr_iiwa_support/urdf/lbr_iiwa_transmission.xacro @@ -0,0 +1,75 @@ + + + + + + EffortJointInterface + 1.0 + + + hardware_interface/EffortJointInterface + + transmission_interface/SimpleTransmission + + + + EffortJointInterface + 1.0 + + + hardware_interface/EffortJointInterface + + transmission_interface/SimpleTransmission + + + + EffortJointInterface + 1.0 + + + hardware_interface/EffortJointInterface + + transmission_interface/SimpleTransmission + + + + EffortJointInterface + 1.0 + + + hardware_interface/EffortJointInterface + + transmission_interface/SimpleTransmission + + + + EffortJointInterface + 1.0 + + + hardware_interface/EffortJointInterface + + transmission_interface/SimpleTransmission + + + + EffortJointInterface + 1.0 + + + hardware_interface/EffortJointInterface + + transmission_interface/SimpleTransmission + + + + EffortJointInterface + 1.0 + + + hardware_interface/EffortJointInterface + + transmission_interface/SimpleTransmission + + + \ No newline at end of file diff --git a/kuka_quantec_support/config/kr210_r2700-2_joint_limits.yaml b/kuka_quantec_support/config/kr210_r2700_2_joint_limits.yaml similarity index 100% rename from kuka_quantec_support/config/kr210_r2700-2_joint_limits.yaml rename to kuka_quantec_support/config/kr210_r2700_2_joint_limits.yaml diff --git a/kuka_quantec_support/config/kr210_r3100-2_joint_limits.yaml b/kuka_quantec_support/config/kr210_r3100_2_joint_limits.yaml similarity index 100% rename from kuka_quantec_support/config/kr210_r3100-2_joint_limits.yaml rename to kuka_quantec_support/config/kr210_r3100_2_joint_limits.yaml diff --git a/kuka_quantec_support/config/quantec_urdf.rviz b/kuka_quantec_support/config/quantec_urdf.rviz deleted file mode 100644 index a3c6473..0000000 --- a/kuka_quantec_support/config/quantec_urdf.rviz +++ /dev/null @@ -1,245 +0,0 @@ -Panels: - - Class: rviz_common/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /Grid1 - - /RobotModel1 - - /RobotModel1/Description Topic1 - - /TF1 - - /TF1/Frames1 - - /TF1/Tree1/base_link1 - - /TF1/Tree1/base_link1/link_11 - Splitter Ratio: 0.5 - Tree Height: 617 - - Class: rviz_common/Selection - Name: Selection - - Class: rviz_common/Tool Properties - Expanded: - - /2D Goal Pose1 - - /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: 1 - Class: rviz_default_plugins/RobotModel - Collision Enabled: false - 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 - 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 - 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 - 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: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: false - Tree: - base_link: - base: - {} - 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 - 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: /goal_pose - - 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: 3.5294711589813232 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0.2036915272474289 - Y: -0.2434246987104416 - Z: 0.0280955508351326 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.785398006439209 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.785398006439209 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 846 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd000000040000000000000156000002f4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002f4000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c000002610000000100000100000002f4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002f4000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000024e000002f400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1200 - X: 72 - Y: 60 diff --git a/kuka_quantec_support/launch/test_kr210r3100-2.launch.py b/kuka_quantec_support/launch/test_kr210_r2700_2.launch.py similarity index 93% rename from kuka_quantec_support/launch/test_kr210r3100-2.launch.py rename to kuka_quantec_support/launch/test_kr210_r2700_2.launch.py index 1bcebe0..3613177 100644 --- a/kuka_quantec_support/launch/test_kr210r3100-2.launch.py +++ b/kuka_quantec_support/launch/test_kr210_r2700_2.launch.py @@ -25,16 +25,17 @@ def generate_launch_description(): " ", PathJoinSubstitution( [FindPackageShare("kuka_quantec_support"), - "urdf", "kr210_r3100-2.urdf.xacro"] + "urdf", "kr210_r2700_2.urdf.xacro"] ), " ", + "use_fake_hardware:=true", ] ) robot_description = {'robot_description': robot_description_content} # RViz rviz_config_file = PathJoinSubstitution([FindPackageShare( - 'kuka_quantec_support'), "config", "quantec_urdf.rviz"]) + 'kuka_resources'), "config", "view_6_axis_urdf.rviz"]) rviz_node = Node(package='rviz2', executable='rviz2', name='rviz2_launch', diff --git a/kuka_quantec_support/launch/test_kr210r2700-2.launch.py b/kuka_quantec_support/launch/test_kr210_r3100_2.launch.py similarity index 93% rename from kuka_quantec_support/launch/test_kr210r2700-2.launch.py rename to kuka_quantec_support/launch/test_kr210_r3100_2.launch.py index 82aa900..33339f2 100644 --- a/kuka_quantec_support/launch/test_kr210r2700-2.launch.py +++ b/kuka_quantec_support/launch/test_kr210_r3100_2.launch.py @@ -25,16 +25,17 @@ def generate_launch_description(): " ", PathJoinSubstitution( [FindPackageShare("kuka_quantec_support"), - "urdf", "kr210_r2700-2.urdf.xacro"] + "urdf", "kr210_r3100_2.urdf.xacro"] ), " ", + "use_fake_hardware:=true", ] ) robot_description = {'robot_description': robot_description_content} # RViz rviz_config_file = PathJoinSubstitution([FindPackageShare( - 'kuka_quantec_support'), "config", "quantec_urdf.rviz"]) + 'kuka_resources'), "config", "view_6_axis_urdf.rviz"]) rviz_node = Node(package='rviz2', executable='rviz2', name='rviz2_launch', diff --git a/kuka_quantec_support/meshes/kr210_r2700-2/collision/base_link.stl b/kuka_quantec_support/meshes/kr210_r2700_2/collision/base_link.stl similarity index 100% rename from kuka_quantec_support/meshes/kr210_r2700-2/collision/base_link.stl rename to kuka_quantec_support/meshes/kr210_r2700_2/collision/base_link.stl diff --git a/kuka_quantec_support/meshes/kr210_r2700-2/collision/link_1.stl b/kuka_quantec_support/meshes/kr210_r2700_2/collision/link_1.stl similarity index 100% rename from kuka_quantec_support/meshes/kr210_r2700-2/collision/link_1.stl rename to kuka_quantec_support/meshes/kr210_r2700_2/collision/link_1.stl diff --git a/kuka_quantec_support/meshes/kr210_r2700-2/collision/link_2.stl b/kuka_quantec_support/meshes/kr210_r2700_2/collision/link_2.stl similarity index 100% rename from kuka_quantec_support/meshes/kr210_r2700-2/collision/link_2.stl rename to kuka_quantec_support/meshes/kr210_r2700_2/collision/link_2.stl diff --git a/kuka_quantec_support/meshes/kr210_r2700-2/collision/link_3.stl b/kuka_quantec_support/meshes/kr210_r2700_2/collision/link_3.stl similarity index 100% rename from kuka_quantec_support/meshes/kr210_r2700-2/collision/link_3.stl rename to kuka_quantec_support/meshes/kr210_r2700_2/collision/link_3.stl diff --git a/kuka_quantec_support/meshes/kr210_r2700-2/collision/link_4.stl b/kuka_quantec_support/meshes/kr210_r2700_2/collision/link_4.stl similarity index 100% rename from kuka_quantec_support/meshes/kr210_r2700-2/collision/link_4.stl rename to kuka_quantec_support/meshes/kr210_r2700_2/collision/link_4.stl diff --git a/kuka_quantec_support/meshes/kr210_r2700-2/collision/link_5.stl b/kuka_quantec_support/meshes/kr210_r2700_2/collision/link_5.stl similarity index 100% rename from kuka_quantec_support/meshes/kr210_r2700-2/collision/link_5.stl rename to kuka_quantec_support/meshes/kr210_r2700_2/collision/link_5.stl diff --git a/kuka_quantec_support/meshes/kr210_r2700-2/collision/link_6.stl b/kuka_quantec_support/meshes/kr210_r2700_2/collision/link_6.stl similarity index 100% rename from kuka_quantec_support/meshes/kr210_r2700-2/collision/link_6.stl rename to kuka_quantec_support/meshes/kr210_r2700_2/collision/link_6.stl diff --git a/kuka_quantec_support/meshes/kr210_r2700-2/visual/base_link.stl b/kuka_quantec_support/meshes/kr210_r2700_2/visual/base_link.stl similarity index 100% rename from kuka_quantec_support/meshes/kr210_r2700-2/visual/base_link.stl rename to kuka_quantec_support/meshes/kr210_r2700_2/visual/base_link.stl diff --git a/kuka_quantec_support/meshes/kr210_r2700-2/visual/link_1.stl b/kuka_quantec_support/meshes/kr210_r2700_2/visual/link_1.stl similarity index 100% rename from kuka_quantec_support/meshes/kr210_r2700-2/visual/link_1.stl rename to kuka_quantec_support/meshes/kr210_r2700_2/visual/link_1.stl diff --git a/kuka_quantec_support/meshes/kr210_r2700-2/visual/link_2.stl b/kuka_quantec_support/meshes/kr210_r2700_2/visual/link_2.stl similarity index 100% rename from kuka_quantec_support/meshes/kr210_r2700-2/visual/link_2.stl rename to kuka_quantec_support/meshes/kr210_r2700_2/visual/link_2.stl diff --git a/kuka_quantec_support/meshes/kr210_r2700-2/visual/link_3.stl b/kuka_quantec_support/meshes/kr210_r2700_2/visual/link_3.stl similarity index 100% rename from kuka_quantec_support/meshes/kr210_r2700-2/visual/link_3.stl rename to kuka_quantec_support/meshes/kr210_r2700_2/visual/link_3.stl diff --git a/kuka_quantec_support/meshes/kr210_r2700-2/visual/link_4.stl b/kuka_quantec_support/meshes/kr210_r2700_2/visual/link_4.stl similarity index 100% rename from kuka_quantec_support/meshes/kr210_r2700-2/visual/link_4.stl rename to kuka_quantec_support/meshes/kr210_r2700_2/visual/link_4.stl diff --git a/kuka_quantec_support/meshes/kr210_r2700-2/visual/link_5.stl b/kuka_quantec_support/meshes/kr210_r2700_2/visual/link_5.stl similarity index 100% rename from kuka_quantec_support/meshes/kr210_r2700-2/visual/link_5.stl rename to kuka_quantec_support/meshes/kr210_r2700_2/visual/link_5.stl diff --git a/kuka_quantec_support/meshes/kr210_r2700-2/visual/link_6.stl b/kuka_quantec_support/meshes/kr210_r2700_2/visual/link_6.stl similarity index 100% rename from kuka_quantec_support/meshes/kr210_r2700-2/visual/link_6.stl rename to kuka_quantec_support/meshes/kr210_r2700_2/visual/link_6.stl diff --git a/kuka_quantec_support/meshes/kr210_r3100-2/collision/base_link.stl b/kuka_quantec_support/meshes/kr210_r3100_2/collision/base_link.stl similarity index 100% rename from kuka_quantec_support/meshes/kr210_r3100-2/collision/base_link.stl rename to kuka_quantec_support/meshes/kr210_r3100_2/collision/base_link.stl diff --git a/kuka_quantec_support/meshes/kr210_r3100-2/collision/link_1.stl b/kuka_quantec_support/meshes/kr210_r3100_2/collision/link_1.stl similarity index 100% rename from kuka_quantec_support/meshes/kr210_r3100-2/collision/link_1.stl rename to kuka_quantec_support/meshes/kr210_r3100_2/collision/link_1.stl diff --git a/kuka_quantec_support/meshes/kr210_r3100-2/collision/link_2.stl b/kuka_quantec_support/meshes/kr210_r3100_2/collision/link_2.stl similarity index 100% rename from kuka_quantec_support/meshes/kr210_r3100-2/collision/link_2.stl rename to kuka_quantec_support/meshes/kr210_r3100_2/collision/link_2.stl diff --git a/kuka_quantec_support/meshes/kr210_r3100-2/collision/link_3.stl b/kuka_quantec_support/meshes/kr210_r3100_2/collision/link_3.stl similarity index 100% rename from kuka_quantec_support/meshes/kr210_r3100-2/collision/link_3.stl rename to kuka_quantec_support/meshes/kr210_r3100_2/collision/link_3.stl diff --git a/kuka_quantec_support/meshes/kr210_r3100-2/collision/link_4.stl b/kuka_quantec_support/meshes/kr210_r3100_2/collision/link_4.stl similarity index 100% rename from kuka_quantec_support/meshes/kr210_r3100-2/collision/link_4.stl rename to kuka_quantec_support/meshes/kr210_r3100_2/collision/link_4.stl diff --git a/kuka_quantec_support/meshes/kr210_r3100-2/collision/link_5.stl b/kuka_quantec_support/meshes/kr210_r3100_2/collision/link_5.stl similarity index 100% rename from kuka_quantec_support/meshes/kr210_r3100-2/collision/link_5.stl rename to kuka_quantec_support/meshes/kr210_r3100_2/collision/link_5.stl diff --git a/kuka_quantec_support/meshes/kr210_r3100-2/collision/link_6.stl b/kuka_quantec_support/meshes/kr210_r3100_2/collision/link_6.stl similarity index 100% rename from kuka_quantec_support/meshes/kr210_r3100-2/collision/link_6.stl rename to kuka_quantec_support/meshes/kr210_r3100_2/collision/link_6.stl diff --git a/kuka_quantec_support/meshes/kr210_r3100-2/visual/base_link.stl b/kuka_quantec_support/meshes/kr210_r3100_2/visual/base_link.stl similarity index 100% rename from kuka_quantec_support/meshes/kr210_r3100-2/visual/base_link.stl rename to kuka_quantec_support/meshes/kr210_r3100_2/visual/base_link.stl diff --git a/kuka_quantec_support/meshes/kr210_r3100-2/visual/link_1.stl b/kuka_quantec_support/meshes/kr210_r3100_2/visual/link_1.stl similarity index 100% rename from kuka_quantec_support/meshes/kr210_r3100-2/visual/link_1.stl rename to kuka_quantec_support/meshes/kr210_r3100_2/visual/link_1.stl diff --git a/kuka_quantec_support/meshes/kr210_r3100-2/visual/link_2.stl b/kuka_quantec_support/meshes/kr210_r3100_2/visual/link_2.stl similarity index 100% rename from kuka_quantec_support/meshes/kr210_r3100-2/visual/link_2.stl rename to kuka_quantec_support/meshes/kr210_r3100_2/visual/link_2.stl diff --git a/kuka_quantec_support/meshes/kr210_r3100-2/visual/link_3.stl b/kuka_quantec_support/meshes/kr210_r3100_2/visual/link_3.stl similarity index 100% rename from kuka_quantec_support/meshes/kr210_r3100-2/visual/link_3.stl rename to kuka_quantec_support/meshes/kr210_r3100_2/visual/link_3.stl diff --git a/kuka_quantec_support/meshes/kr210_r3100-2/visual/link_4.stl b/kuka_quantec_support/meshes/kr210_r3100_2/visual/link_4.stl similarity index 100% rename from kuka_quantec_support/meshes/kr210_r3100-2/visual/link_4.stl rename to kuka_quantec_support/meshes/kr210_r3100_2/visual/link_4.stl diff --git a/kuka_quantec_support/meshes/kr210_r3100-2/visual/link_5.stl b/kuka_quantec_support/meshes/kr210_r3100_2/visual/link_5.stl similarity index 100% rename from kuka_quantec_support/meshes/kr210_r3100-2/visual/link_5.stl rename to kuka_quantec_support/meshes/kr210_r3100_2/visual/link_5.stl diff --git a/kuka_quantec_support/meshes/kr210_r3100-2/visual/link_6.stl b/kuka_quantec_support/meshes/kr210_r3100_2/visual/link_6.stl similarity index 100% rename from kuka_quantec_support/meshes/kr210_r3100-2/visual/link_6.stl rename to kuka_quantec_support/meshes/kr210_r3100_2/visual/link_6.stl diff --git a/kuka_quantec_support/urdf/kr210_r2700-2.urdf.xacro b/kuka_quantec_support/urdf/kr210_r2700-2.urdf.xacro deleted file mode 100644 index 31254ad..0000000 --- a/kuka_quantec_support/urdf/kr210_r2700-2.urdf.xacro +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - - diff --git a/kuka_quantec_support/urdf/kr210_r2700_2.urdf.xacro b/kuka_quantec_support/urdf/kr210_r2700_2.urdf.xacro new file mode 100644 index 0000000..4d87f9e --- /dev/null +++ b/kuka_quantec_support/urdf/kr210_r2700_2.urdf.xacro @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/kuka_quantec_support/urdf/kr210_r2700-2_macro.xacro b/kuka_quantec_support/urdf/kr210_r2700_2_macro.xacro similarity index 92% rename from kuka_quantec_support/urdf/kr210_r2700-2_macro.xacro rename to kuka_quantec_support/urdf/kr210_r2700_2_macro.xacro index 111be26..748afb6 100644 --- a/kuka_quantec_support/urdf/kr210_r2700-2_macro.xacro +++ b/kuka_quantec_support/urdf/kr210_r2700_2_macro.xacro @@ -3,20 +3,18 @@ - + - + @@ -27,7 +25,7 @@ - + @@ -35,7 +33,7 @@ - + @@ -46,7 +44,7 @@ - + @@ -54,7 +52,7 @@ - + @@ -65,7 +63,7 @@ - + @@ -73,7 +71,7 @@ - + @@ -84,7 +82,7 @@ - + @@ -92,7 +90,7 @@ - + @@ -103,7 +101,7 @@ - + @@ -111,7 +109,7 @@ - + @@ -122,7 +120,7 @@ - + @@ -130,7 +128,7 @@ - + @@ -141,7 +139,7 @@ - + diff --git a/kuka_quantec_support/urdf/kr210_r3100-2.urdf.xacro b/kuka_quantec_support/urdf/kr210_r3100-2.urdf.xacro deleted file mode 100644 index 8bb3941..0000000 --- a/kuka_quantec_support/urdf/kr210_r3100-2.urdf.xacro +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - - - - - diff --git a/kuka_quantec_support/urdf/kr210_r3100_2.urdf.xacro b/kuka_quantec_support/urdf/kr210_r3100_2.urdf.xacro new file mode 100644 index 0000000..f994a22 --- /dev/null +++ b/kuka_quantec_support/urdf/kr210_r3100_2.urdf.xacro @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/kuka_quantec_support/urdf/kr210_r3100-2_macro.xacro b/kuka_quantec_support/urdf/kr210_r3100_2_macro.xacro similarity index 92% rename from kuka_quantec_support/urdf/kr210_r3100-2_macro.xacro rename to kuka_quantec_support/urdf/kr210_r3100_2_macro.xacro index 58d201d..979b9d6 100644 --- a/kuka_quantec_support/urdf/kr210_r3100-2_macro.xacro +++ b/kuka_quantec_support/urdf/kr210_r3100_2_macro.xacro @@ -3,20 +3,18 @@ - + - + @@ -27,7 +25,7 @@ - + @@ -35,7 +33,7 @@ - + @@ -46,7 +44,7 @@ - + @@ -54,7 +52,7 @@ - + @@ -65,7 +63,7 @@ - + @@ -73,7 +71,7 @@ - + @@ -84,7 +82,7 @@ - + @@ -92,7 +90,7 @@ - + @@ -103,7 +101,7 @@ - + @@ -111,7 +109,7 @@ - + @@ -122,7 +120,7 @@ - + @@ -130,7 +128,7 @@ - + @@ -141,7 +139,7 @@ - + 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} ${client_port} diff --git a/kuka_resources/CMakeLists.txt b/kuka_resources/CMakeLists.txt index 0342613..53ca03a 100644 --- a/kuka_resources/CMakeLists.txt +++ b/kuka_resources/CMakeLists.txt @@ -4,7 +4,7 @@ project(kuka_resources) find_package(ament_cmake REQUIRED) find_package(urdf REQUIRED) -install(DIRECTORY urdf +install(DIRECTORY urdf config DESTINATION share/${PROJECT_NAME}) ament_package() diff --git a/kuka_lbr_iisy_support/config/simple_urdf.rviz b/kuka_resources/config/view_6_axis_urdf.rviz similarity index 95% rename from kuka_lbr_iisy_support/config/simple_urdf.rviz rename to kuka_resources/config/view_6_axis_urdf.rviz index a564b5b..25ee540 100644 --- a/kuka_lbr_iisy_support/config/simple_urdf.rviz +++ b/kuka_resources/config/view_6_axis_urdf.rviz @@ -4,12 +4,9 @@ Panels: Name: Displays Property Tree Widget: Expanded: - - /Global Options1 - - /Status1 - - /RobotModel1 - /TF1 Splitter Ratio: 0.5 - Tree Height: 1017 + Tree Height: 661 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -239,16 +236,16 @@ Visualization Manager: Window Geometry: Displays: collapsed: false - Height: 1246 + Height: 890 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 000000ff00000000fd0000000400000000000002ca00000484fc020000000afb0000001200530065006c0065006300740069006f006e000000003d000003b90000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000484000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000012004c0069006e006500500061006e0065006c010000003b000002ff0000000000000000000000010000010f000002fffc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002ff000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d00000044fc0100000002fb0000000800540069006d006501000000000000073d0000000000000000fb0000000800540069006d006501000000000000045000000000000000000000030e0000048400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd0000000400000000000002ca00000320fc020000000afb0000001200530065006c0065006300740069006f006e000000003d000003b90000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000320000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000012004c0069006e006500500061006e0065006c010000003b000002ff0000000000000000000000010000010f000002fffc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002ff000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d00000044fc0100000002fb0000000800540069006d006501000000000000073d0000000000000000fb0000000800540069006d006501000000000000045000000000000000000000046a0000032000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Tool Properties: collapsed: false Views: collapsed: false - Width: 1502 - X: 74 + Width: 1850 + X: 70 Y: 27 diff --git a/kuka_lbr_iiwa7_support/launch/urdf.rviz b/kuka_resources/config/view_7_axis_urdf.rviz old mode 100755 new mode 100644 similarity index 70% rename from kuka_lbr_iiwa7_support/launch/urdf.rviz rename to kuka_resources/config/view_7_axis_urdf.rviz index 109793b..e9ff33a --- a/kuka_lbr_iiwa7_support/launch/urdf.rviz +++ b/kuka_resources/config/view_7_axis_urdf.rviz @@ -9,7 +9,7 @@ Panels: - /RobotModel1 - /TF1 Splitter Ratio: 0.5 - Tree Height: 657 + Tree Height: 661 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -62,55 +62,65 @@ Visualization Manager: Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order - LBRiiwa7Axis1: + base: Alpha: 1 Show Axes: false Show Trail: false - Value: true - LBRiiwa7Axis2: + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + base_link_inertia: Alpha: 1 Show Axes: false Show Trail: false Value: true - LBRiiwa7RobotBase: + flange: + Alpha: 1 + Show Axes: false + Show Trail: false + link_1: Alpha: 1 Show Axes: false Show Trail: false Value: true - LBRiiwa7Axis3: + link_2: Alpha: 1 Show Axes: false Show Trail: false Value: true - LBRiiwa7Axis4: + link_3: Alpha: 1 Show Axes: false Show Trail: false Value: true - LBRiiwa7Axis5: + link_4: Alpha: 1 Show Axes: false Show Trail: false Value: true - LBRiiwa7Axis6: + link_5: Alpha: 1 Show Axes: false Show Trail: false Value: true - LBRiiwa7Axis7: + link_6: Alpha: 1 Show Axes: false Show Trail: false Value: true - LBRiiwaFlange: + link_7: Alpha: 1 Show Axes: false Show Trail: false Value: true - world: + tool0: Alpha: 1 Show Axes: false Show Trail: false + Mass Properties: + Inertia: false + Mass: false Name: RobotModel TF Prefix: "" Update Interval: 0 @@ -121,25 +131,29 @@ Visualization Manager: Frame Timeout: 15 Frames: All Enabled: true - LBRiiwa7Axis1: + base: + Value: true + base_link: + Value: true + base_link_inertia: Value: true - LBRiiwa7Axis2: + flange: Value: true - LBRiiwa7RobotBase: + link_1: Value: true - LBRiiwa7Axis3: + link_2: Value: true - LBRiiwa7Axis4: + link_3: Value: true - LBRiiwa7Axis5: + link_4: Value: true - LBRiiwa7Axis6: + link_5: Value: true - LBRiiwa7Axis7: + link_6: Value: true - LBRiiwaFlange: + link_7: Value: true - world: + tool0: Value: true Marker Scale: 0.5 Name: TF @@ -147,23 +161,27 @@ Visualization Manager: Show Axes: true Show Names: true Tree: - world: - LBRiiwa7RobotBase: - LBRiiwa7Axis1: - LBRiiwa7Axis2: - LBRiiwa7Axis3: - LBRiiwa7Axis4: - LBRiiwa7Axis5: - LBRiiwa7Axis6: - LBRiiwa7Axis7: - LBRiiwaFlange: - {} + base_link: + base: + {} + base_link_inertia: + link_1: + link_2: + link_3: + link_4: + link_5: + link_6: + link_7: + flange: + {} + tool0: + {} Update Interval: 0 Value: true Enabled: true Global Options: Background Color: 48; 48; 48 - Fixed Frame: world + Fixed Frame: base_link Frame Rate: 30 Name: root Tools: @@ -175,6 +193,9 @@ Visualization Manager: - 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 @@ -210,32 +231,32 @@ Visualization Manager: Swap Stereo Eyes: false Value: false Focal Point: - X: -0.11415477842092514 - Y: 0.0037024784833192825 - Z: 0.11370787769556046 + 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: 1.0103965997695923 + Pitch: -0.04960332438349724 Target Frame: Value: Orbit (rviz) - Yaw: 6.021770477294922 + Yaw: 6.111769676208496 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 886 + Height: 890 Hide Left Dock: false Hide Right Dock: false - QMainWindow State: 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+ QMainWindow State: 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Selection: collapsed: false Tool Properties: collapsed: false Views: collapsed: false - Width: 1848 - X: 72 + Width: 1850 + X: 70 Y: 27 diff --git a/kuka_robot_descriptions/CMakeLists.txt b/kuka_robot_descriptions/CMakeLists.txt new file mode 100644 index 0000000..bf7732b --- /dev/null +++ b/kuka_robot_descriptions/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 3.16) +project(kuka_robot_descriptions LANGUAGES CXX) + +if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)") + add_compile_options(-Wall -Wextra) +endif() + +find_package(ament_cmake REQUIRED) + +ament_package() \ No newline at end of file diff --git a/kuka_robot_descriptions/package.xml b/kuka_robot_descriptions/package.xml new file mode 100644 index 0000000..6024993 --- /dev/null +++ b/kuka_robot_descriptions/package.xml @@ -0,0 +1,28 @@ + + + kuka_robot_descriptions + 0.0.1 + Robot desciptions for KUKA robots + Áron Svastits + Áron Svastits + BSD + + https://github.com/kroshu/kuka_robot_descriptions/issues + https://github.com/kroshu/kuka_robot_descriptions + + ament_cmake + + kuka_agilus_support + kuka_cybertech_support + kuka_kr_moveit_config + kuka_lbr_iisy_moveit_config + kuka_lbr_iisy_support + kuka_lbr_iiwa_support + kuka_quantec_support + kuka_resources + kuka_rsi_simulator + + + ament_cmake + +