Experimental support for CRB 15000-12/1.27 (#149)

Squashed commits:

* Added support for CRB 15000-12
* Added support for CRB 15000-12
* Update package.xml
* Unified mesh normals, fixed joint and speed limits.
* Make sure to run 12/1.27 variant roslaunch test as well
* Clarify source of joint limits and other specs

---------

Co-authored-by: gavanderhoorn <[email protected]>

abb_crb15000_support/CMakeLists.txt

@@ -9,6 +9,7 @@ catkin_package()
 if (CATKIN_ENABLE_TESTING)
   find_package(roslaunch REQUIRED)
   roslaunch_add_file_check(tests/roslaunch_test_crb15000_5_95.xml)
+  roslaunch_add_file_check(tests/roslaunch_test_crb15000_12_127.xml)
 endif()
 
 install(DIRECTORY config launch meshes urdf

abb_crb15000_support/config/joint_names_crb15000_12_127.yaml

@@ -0,0 +1 @@
+controller_joint_names: ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']

abb_crb15000_support/launch/load_crb15000_12_127.launch

@@ -0,0 +1,4 @@
+<?xml version="1.0" ?>
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find abb_crb15000_support)/urdf/crb15000_12_127.xacro'" />
+</launch>

abb_crb15000_support/launch/test_crb15000_12_127.launch

@@ -0,0 +1,7 @@
+<?xml version="1.0" ?>
+<launch>
+  <include file="$(find abb_crb15000_support)/launch/load_crb15000_12_127.launch"/>
+  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>

abb_crb15000_support/package.xml

@@ -10,19 +10,22 @@
     <p>
       This package contains configuration data, 3D models and launch files
       for ABB GoFa CRB 15000 manipulators. This currently includes the
-      CRB 15000-5/0.95 variant only.
+      CRB 15000-5/0.95 and CRB 15000-12/1.27 variants.
     </p>
     <p>
       Joint limits and max joint velocities are based on the information in the
-      <em>ABB CRB 15000 Datasheet</em>, document ID: <em>TODO, Feb 2021</em>.
+      <em>ABB CRB 15000 Datasheet</em>, document ID: <em>TODO, Feb 2021</em> for
+      the CRB 15000-5/0.95. For CRB 15000-12/1.27, they are based on the
+      information in <em>ABB CRB 15000 Product manual</em>, document ID:
+      <em>3HAC077389-001, Rev. P</em>.
       All urdfs / xacros are based on the default motion and joint velocity
       limits, unless noted otherwise (ie: no support for high speed joints,
       extended / limited motion ranges or other options).
     </p>
     <p>
-      Note 1: this is an early conversion from CAD data downloaded from ABB's
-      library with geometry and kinematics partially based on the GoFa
-      datasheet.
+      Note 1: the CRB 15000-5/0.95 is an early conversion from CAD data
+      downloaded from ABB's library with geometry and kinematics partially
+      based on the GoFa datasheet.
       There may be conversion errors and other deviations from the real robot.
     </p>
     <p>
@@ -37,6 +40,7 @@
     </p>
   </description>
   <author>G.A. vd. Hoorn (TU Delft Robotics Institute)</author>
+  <author>Marco Palma (TU Vienna Institute of Art and Design)</author>
   <maintainer email="[email protected]">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
   <license>Apache-2.0</license>
 

abb_crb15000_support/tests/roslaunch_test_crb15000_12_127.xml

@@ -0,0 +1,10 @@
+<?xml version="1.0" ?>
+<launch>
+  <group ns="load_crb15000_12_127__">
+    <include file="$(find abb_crb15000_support)/launch/load_crb15000_12_127.launch"/>
+  </group>
+
+  <group ns="test_crb15000_12_127__">
+    <include file="$(find abb_crb15000_support)/launch/test_crb15000_12_127.launch"/>
+  </group>
+</launch>

abb_crb15000_support/urdf/crb15000_12_127.xacro

@@ -0,0 +1,6 @@
+<?xml version="1.0" ?>
+<robot name="abb_crb15000_12_127" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:include filename="$(find abb_crb15000_support)/urdf/crb15000_12_127_macro.xacro"/>
+  <xacro:abb_crb15000_12_127 prefix=""/>
+</robot>
+

abb_crb15000_support/urdf/crb15000_12_127_macro.xacro

@@ -0,0 +1,169 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:include filename="$(find abb_resources)/urdf/common_materials.xacro"/>
+
+  <xacro:macro name="abb_crb15000_12_127" params="prefix">
+    <!-- link list -->
+    <link name="${prefix}base_link">
+      <collision>
+        <geometry>
+          <mesh filename="package://abb_crb15000_support/meshes/crb15000_12_127/collision/base_link.stl"/>
+        </geometry>
+      </collision>
+      <visual>
+        <geometry>
+          <mesh filename="package://abb_crb15000_support/meshes/crb15000_12_127/visual/base_link.stl"/>
+        </geometry>
+        <xacro:material_abb_dark_gray />
+      </visual>
+    </link>
+    <link name="${prefix}link_1">
+      <collision>
+        <geometry>
+          <mesh filename="package://abb_crb15000_support/meshes/crb15000_12_127/collision/link_1.stl"/>
+        </geometry>
+      </collision>
+      <visual>
+        <geometry>
+          <mesh filename="package://abb_crb15000_support/meshes/crb15000_12_127/visual/link_1.stl"/>
+        </geometry>
+        <xacro:material_abb_dark_gray />
+      </visual>
+    </link>
+    <link name="${prefix}link_2">
+      <collision>
+        <geometry>
+          <mesh filename="package://abb_crb15000_support/meshes/crb15000_12_127/collision/link_2.stl"/>
+        </geometry>
+      </collision>
+      <visual>
+        <geometry>
+          <mesh filename="package://abb_crb15000_support/meshes/crb15000_12_127/visual/link_2.stl"/>
+        </geometry>
+        <xacro:material_abb_dark_gray />
+      </visual>
+    </link>
+    <link name="${prefix}link_3">
+      <collision>
+        <geometry>
+          <mesh filename="package://abb_crb15000_support/meshes/crb15000_5_95/collision/link_3.stl"/>
+        </geometry>
+      </collision>
+      <visual>
+        <geometry>
+          <mesh filename="package://abb_crb15000_support/meshes/crb15000_5_95/visual/link_3.stl"/>
+        </geometry>
+        <xacro:material_abb_dark_gray />
+      </visual>
+    </link>
+    <link name="${prefix}link_4">
+      <collision>
+        <geometry>
+          <mesh filename="package://abb_crb15000_support/meshes/crb15000_12_127/collision/link_4.stl"/>
+        </geometry>
+      </collision>
+      <visual>
+        <geometry>
+          <mesh filename="package://abb_crb15000_support/meshes/crb15000_12_127/visual/link_4.stl"/>
+        </geometry>
+        <xacro:material_abb_graphite_white />
+      </visual>
+    </link>
+    <link name="${prefix}link_5">
+      <collision>
+        <geometry>
+          <mesh filename="package://abb_crb15000_support/meshes/crb15000_5_95/collision/link_5.stl"/>
+        </geometry>
+      </collision>
+      <visual>
+        <geometry>
+          <mesh filename="package://abb_crb15000_support/meshes/crb15000_5_95/visual/link_5.stl"/>
+        </geometry>
+        <xacro:material_abb_graphite_white />
+      </visual>
+    </link>
+    <link name="${prefix}link_6">
+      <collision>
+        <geometry>
+          <mesh filename="package://abb_crb15000_support/meshes/crb15000_5_95/collision/link_6.stl"/>
+        </geometry>
+      </collision>
+      <visual>
+        <geometry>
+          <mesh filename="package://abb_crb15000_support/meshes/crb15000_5_95/visual/link_6.stl"/>
+        </geometry>
+        <xacro:material_abb_gray_white />
+      </visual>
+    </link>
+    <!-- end of link list -->
+
+    <!-- joint list -->
+    <joint type="revolute" name="${prefix}joint_1">
+      <origin xyz="0 0 0.338" rpy="0 0 0"/>
+      <axis xyz="0 0 1"/>
+      <parent link="${prefix}base_link"/>
+      <child link="${prefix}link_1"/>
+      <limit effort="0" lower="${radians(-270)}" upper="${radians(270)}" velocity="${radians(120)}"/>
+    </joint>
+    <joint type="revolute" name="${prefix}joint_2">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <axis xyz="0 1 0"/>
+      <parent link="${prefix}link_1"/>
+      <child link="${prefix}link_2"/>
+      <limit effort="0" lower="${radians(-180)}" upper="${radians(180)}" velocity="${radians(120)}"/>
+    </joint>
+    <joint type="revolute" name="${prefix}joint_3">
+      <origin xyz="0 0 0.707" rpy="0 0 0"/>
+      <axis xyz="0 1 0"/>
+      <parent link="${prefix}link_2"/>
+      <child link="${prefix}link_3"/>
+      <limit effort="0" lower="${radians(-225)}" upper="${radians(85)}" velocity="${radians(125)}"/>
+    </joint>
+    <joint type="revolute" name="${prefix}joint_4">
+      <origin xyz="0 0 0.110" rpy="0 0 0"/>
+      <axis xyz="1 0 0"/>
+      <parent link="${prefix}link_3"/>
+      <child link="${prefix}link_4"/>
+      <limit effort="0" lower="${radians(-180)}" upper="${radians(180)}" velocity="${radians(200)}"/>
+    </joint>
+    <joint type="revolute" name="${prefix}joint_5">
+      <origin xyz="0.534 0 0" rpy="0 0 0"/>
+      <axis xyz="0 1 0"/>
+      <parent link="${prefix}link_4"/>
+      <child link="${prefix}link_5"/>
+      <limit effort="0" lower="${radians(-180)}" upper="${radians(180)}" velocity="${radians(200)}"/>
+    </joint>
+    <joint type="revolute" name="${prefix}joint_6">
+      <origin xyz="0.101 0 0.080" rpy="0 0 0"/>
+      <axis xyz="1 0 0"/>
+      <parent link="${prefix}link_5"/>
+      <child link="${prefix}link_6"/>
+      <limit effort="0" lower="${radians(-270)}" upper="${radians(270)}" velocity="${radians(200)}"/>
+    </joint>
+    <!-- end of joint list -->
+
+    <!-- ROS-Industrial 'base' frame: base_link to ABB World Coordinates transform -->
+    <link name="${prefix}base" />
+    <joint name="${prefix}base_link-base" type="fixed">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}base_link"/>
+      <child link="${prefix}base"/>
+    </joint>
+
+    <!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
+    <link name="${prefix}flange"/>
+    <joint type="fixed" name="${prefix}joint_6-flange">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_6"/>
+      <child link="${prefix}flange"/>
+    </joint>
+
+    <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
+    <link name="${prefix}tool0" />
+    <joint name="${prefix}flange-tool0" type="fixed">
+      <origin xyz="0 0 0" rpy="0 ${radians(90)} 0" />
+      <parent link="${prefix}flange" />
+      <child link="${prefix}tool0" />
+    </joint>
+  </xacro:macro>
+</robot>