Create unified structure for all support packages

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.)

kuka_agilus_support/launch/test_kr6r700sixx.launch.py → 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',

kuka_agilus_support/launch/test_kr6r900sixx.launch.py → 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',

kuka_agilus_support/urdf/kr6_r700_sixx.urdf.xacro

@@ -1,19 +1,10 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="kr6_r700_sixx">
-<!-- Import urdf file  -->
-<xacro:include filename="$(find kuka_agilus_support)/urdf/kr6_r700_sixx_macro.xacro"/>
+  <!-- Import urdf file  -->
+  <xacro:include filename="$(find kuka_agilus_support)/urdf/kr6_r700_sixx_macro.xacro"/>
 
-<!-- Read parameters from rsi_config  -->
-<xacro:property name="rsi_config" value="$(find kuka_rsi_hw_interface)/config/rsi_config.yaml" />
-<xacro:property name="rsi_config_dict" value="${xacro.load_yaml(rsi_config)}"/>
-<xacro:property name="client_ip" value="${rsi_config_dict['client_ip']}" />
-<xacro:property name="client_port" value="${rsi_config_dict['client_port']}" />
+  <!-- Read additional arguments  -->
+  <xacro:arg name="use_fake_hardware" default="false" />
 
-<!-- Read additional arguments  -->
-<xacro:arg name="use_fake_hardware" default="false" />
-
-<xacro:kuka_kr6_r700_sixx_robot prefix=""
-                  client_ip="${client_ip}" 
-                  client_port="${client_port}" 
-                  use_fake_hardware="$(arg use_fake_hardware)"/>
+  <xacro:kuka_kr6_r700_sixx_robot prefix=""  use_fake_hardware="$(arg use_fake_hardware)"/>
 </robot>

kuka_agilus_support/urdf/kr6_r700_sixx_macro.xacro

@@ -5,13 +5,11 @@
   <xacro:include filename="$(find kuka_agilus_support)/urdf/kr_agilus_ros2_control.xacro" />
   <xacro:include filename="$(find kuka_agilus_support)/urdf/kr_agilus_transmission.xacro" />
 
-  <xacro:macro name="kuka_kr6_r700_sixx_robot" params="prefix client_ip client_port use_fake_hardware">
+  <xacro:macro name="kuka_kr6_r700_sixx_robot" params="prefix use_fake_hardware">
     <!-- ros2 control instance -->
     <xacro:kuka_agilus_ros2_control
     name="kr6_r700_sixx" 
     prefix="${prefix}"
-    client_ip="${client_ip}"
-    client_port="${client_port}"
     use_fake_hardware="${use_fake_hardware}" />
 
     <link name="${prefix}base_link"/>

kuka_agilus_support/urdf/kr6_r900_sixx.urdf.xacro

@@ -1,19 +1,10 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="kr6_r900_sixx">
-<!-- Import urdf file  -->
-<xacro:include filename="$(find kuka_agilus_support)/urdf/kr6_r900_sixx_macro.xacro"/>
+  <!-- Import urdf file  -->
+  <xacro:include filename="$(find kuka_agilus_support)/urdf/kr6_r900_sixx_macro.xacro"/>
 
-<!-- Read parameters from rsi_config  -->
-<xacro:property name="rsi_config" value="$(find kuka_rsi_hw_interface)/config/rsi_config.yaml" />
-<xacro:property name="rsi_config_dict" value="${xacro.load_yaml(rsi_config)}"/>
-<xacro:property name="client_ip" value="${rsi_config_dict['client_ip']}" />
-<xacro:property name="client_port" value="${rsi_config_dict['client_port']}" />
+  <!-- Read additional arguments  -->
+  <xacro:arg name="use_fake_hardware" default="false" />
 
-<!-- Read additional arguments  -->
-<xacro:arg name="use_fake_hardware" default="false" />
-
-<xacro:kuka_kr6_r900_sixx_robot prefix=""
-                  client_ip="${client_ip}" 
-                  client_port="${client_port}" 
-                  use_fake_hardware="$(arg use_fake_hardware)"/>
+  <xacro:kuka_kr6_r900_sixx_robot prefix="" use_fake_hardware="$(arg use_fake_hardware)"/>
 </robot>

kuka_agilus_support/urdf/kr6_r900_sixx_macro.xacro

@@ -5,13 +5,11 @@
   <xacro:include filename="$(find kuka_agilus_support)/urdf/kr_agilus_ros2_control.xacro" />
   <xacro:include filename="$(find kuka_agilus_support)/urdf/kr_agilus_transmission.xacro" />
 
-  <xacro:macro name="kuka_kr6_r900_sixx_robot" params="prefix client_ip client_port use_fake_hardware">
+  <xacro:macro name="kuka_kr6_r900_sixx_robot" params="prefix use_fake_hardware">
     <!-- ros2 control instance -->
     <xacro:kuka_agilus_ros2_control
     name="kr6_r900_sixx" 
     prefix="${prefix}"
-    client_ip="${client_ip}"
-    client_port="${client_port}"
     use_fake_hardware="${use_fake_hardware}" />
 
     <link name="${prefix}base_link"/>