From e7ee7b0d4ba7a6e34e4508d0f372f5b7550e6a76 Mon Sep 17 00:00:00 2001 From: Marco Palma <55834796+mmmarcopalma@users.noreply.github.com> Date: Sun, 22 Sep 2024 15:28:13 +0200 Subject: [PATCH] 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 --- abb_crb15000_support/CMakeLists.txt | 1 + .../config/joint_names_crb15000_12_127.yaml | 1 + .../launch/load_crb15000_12_127.launch | 4 + .../launch/test_crb15000_12_127.launch | 7 + .../crb15000_12_127/collision/base_link.stl | Bin 0 -> 8584 bytes .../crb15000_12_127/collision/link_1.stl | Bin 0 -> 36984 bytes .../crb15000_12_127/collision/link_2.stl | Bin 0 -> 161784 bytes .../crb15000_12_127/collision/link_4.stl | Bin 0 -> 83384 bytes .../crb15000_12_127/visual/base_link.stl | Bin 0 -> 288184 bytes .../meshes/crb15000_12_127/visual/link_1.stl | Bin 0 -> 366334 bytes .../meshes/crb15000_12_127/visual/link_2.stl | Bin 0 -> 644184 bytes .../meshes/crb15000_12_127/visual/link_4.stl | Bin 0 -> 951934 bytes abb_crb15000_support/package.xml | 14 +- .../tests/roslaunch_test_crb15000_12_127.xml | 10 ++ .../urdf/crb15000_12_127.xacro | 6 + .../urdf/crb15000_12_127_macro.xacro | 169 ++++++++++++++++++ 16 files changed, 207 insertions(+), 5 deletions(-) create mode 100644 abb_crb15000_support/config/joint_names_crb15000_12_127.yaml create mode 100644 abb_crb15000_support/launch/load_crb15000_12_127.launch create mode 100644 abb_crb15000_support/launch/test_crb15000_12_127.launch create mode 100644 abb_crb15000_support/meshes/crb15000_12_127/collision/base_link.stl create mode 100644 abb_crb15000_support/meshes/crb15000_12_127/collision/link_1.stl create mode 100644 abb_crb15000_support/meshes/crb15000_12_127/collision/link_2.stl create mode 100644 abb_crb15000_support/meshes/crb15000_12_127/collision/link_4.stl create mode 100644 abb_crb15000_support/meshes/crb15000_12_127/visual/base_link.stl create mode 100644 abb_crb15000_support/meshes/crb15000_12_127/visual/link_1.stl create mode 100644 abb_crb15000_support/meshes/crb15000_12_127/visual/link_2.stl create mode 100644 abb_crb15000_support/meshes/crb15000_12_127/visual/link_4.stl create mode 100644 abb_crb15000_support/tests/roslaunch_test_crb15000_12_127.xml create mode 100644 abb_crb15000_support/urdf/crb15000_12_127.xacro create mode 100644 abb_crb15000_support/urdf/crb15000_12_127_macro.xacro diff --git a/abb_crb15000_support/CMakeLists.txt b/abb_crb15000_support/CMakeLists.txt index a73b8cfc..88b1ea3f 100644 --- a/abb_crb15000_support/CMakeLists.txt +++ b/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 diff --git a/abb_crb15000_support/config/joint_names_crb15000_12_127.yaml b/abb_crb15000_support/config/joint_names_crb15000_12_127.yaml new file mode 100644 index 00000000..b02f7ba3 --- /dev/null +++ b/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'] diff --git a/abb_crb15000_support/launch/load_crb15000_12_127.launch b/abb_crb15000_support/launch/load_crb15000_12_127.launch new file mode 100644 index 00000000..d0b254d7 --- /dev/null +++ b/abb_crb15000_support/launch/load_crb15000_12_127.launch @@ -0,0 +1,4 @@ + + + + diff --git a/abb_crb15000_support/launch/test_crb15000_12_127.launch b/abb_crb15000_support/launch/test_crb15000_12_127.launch new file mode 100644 index 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