ros-industrial · cjue · Jun 15, 2022 · Jul 12, 2022 · Aug 30, 2022 · Aug 30, 2022
diff --git a/abb_irb1600_support/CMakeLists.txt b/abb_irb1600_support/CMakeLists.txt
@@ -8,7 +8,8 @@ catkin_package()
 
 if (CATKIN_ENABLE_TESTING)
   find_package(roslaunch REQUIRED)
-  roslaunch_add_file_check(tests/roslaunch_test.xml)
+  roslaunch_add_file_check(tests/roslaunch_test_irb1600_6_12.xml)
+  roslaunch_add_file_check(tests/roslaunch_test_irb1600_10_145.xml)
 endif()
 
 foreach(dir config launch meshes urdf)

diff --git a/abb_irb1600_support/config/joint_names_irb1600_10_145.yaml b/abb_irb1600_support/config/joint_names_irb1600_10_145.yaml
@@ -0,0 +1 @@
+controller_joint_names: ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']
diff --git a/abb_irb1600_support/config/opw_parameters_irb1600_10_145.yaml b/abb_irb1600_support/config/opw_parameters_irb1600_10_145.yaml
@@ -0,0 +1,21 @@
+#
+# Parameters for use with IK solvers which support OPW (Ortho-Parallel Wrist)
+# kinematic configurations, as described in the paper "An Analytical Solution
+# of the Inverse Kinematics Problem of Industrial Serial Manipulators with an
+# Ortho-parallel Basis and a Spherical Wrist" by Mathias Brandstötter, Arthur
+# Angerer, and Michael Hofbaur (Proceedings of the Austrian Robotics Workshop
+# 2014, 22-23 May, 2014, Linz, Austria).
+#
+# The moveit_opw_kinematics_plugin package provides such a solver.
+#
+opw_kinematics_geometric_parameters:
+    a1:  0.150
+    a2:  0.0
+    b:   0.0
+    c1:  0.4865
+    c2:  0.700
+    c3:  0.600
+    c4:  0.065
+opw_kinematics_joint_offsets: [0.0, 0.0, deg(-90.0), 0.0, 0.0, 0.0]
+opw_kinematics_joint_sign_corrections: [1, 1, 1, 1, 1, 1]
+
diff --git a/abb_irb1600_support/config/opw_parameters_irb1600_6_120.yaml b/abb_irb1600_support/config/opw_parameters_irb1600_6_120.yaml
@@ -0,0 +1,21 @@
+#
+# Parameters for use with IK solvers which support OPW (Ortho-Parallel Wrist)
+# kinematic configurations, as described in the paper "An Analytical Solution
+# of the Inverse Kinematics Problem of Industrial Serial Manipulators with an
+# Ortho-parallel Basis and a Spherical Wrist" by Mathias Brandstötter, Arthur
+# Angerer, and Michael Hofbaur (Proceedings of the Austrian Robotics Workshop
+# 2014, 22-23 May, 2014, Linz, Austria).
+#
+# The moveit_opw_kinematics_plugin package provides such a solver.
+#
+opw_kinematics_geometric_parameters:
+    a1:  0.150
+    a2:  0.0
+    b:   0.0
+    c1:  0.4865
+    c2:  0.475
+    c3:  0.600
+    c4:  0.065
+opw_kinematics_joint_offsets: [0.0, 0.0, deg(-90.0), 0.0, 0.0, 0.0]
+opw_kinematics_joint_sign_corrections: [1, 1, 1, 1, 1, 1]
+
diff --git a/abb_irb1600_support/config/opw_parameters_irb1600_8_145.yaml b/abb_irb1600_support/config/opw_parameters_irb1600_8_145.yaml
@@ -0,0 +1,21 @@
+#
+# Parameters for use with IK solvers which support OPW (Ortho-Parallel Wrist)
+# kinematic configurations, as described in the paper "An Analytical Solution
+# of the Inverse Kinematics Problem of Industrial Serial Manipulators with an
+# Ortho-parallel Basis and a Spherical Wrist" by Mathias Brandstötter, Arthur
+# Angerer, and Michael Hofbaur (Proceedings of the Austrian Robotics Workshop
+# 2014, 22-23 May, 2014, Linz, Austria).
+#
+# The moveit_opw_kinematics_plugin package provides such a solver.
+#
+opw_kinematics_geometric_parameters:
+    a1:  0.150
+    a2:  0.0
+    b:   0.0
+    c1:  0.4865
+    c2:  0.700
+    c3:  0.600
+    c4:  0.065
+opw_kinematics_joint_offsets: [0.0, 0.0, deg(-90.0), 0.0, 0.0, 0.0]
+opw_kinematics_joint_sign_corrections: [1, 1, 1, 1, 1, 1]
+
diff --git a/abb_irb1600_support/launch/load_irb1600_10_145.launch b/abb_irb1600_support/launch/load_irb1600_10_145.launch
@@ -0,0 +1,3 @@
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find abb_irb1600_support)/urdf/irb1600_10_145.xacro'" />
+</launch>
diff --git a/abb_irb1600_support/launch/robot_interface_download_irb1600_10_145.launch b/abb_irb1600_support/launch/robot_interface_download_irb1600_10_145.launch
@@ -0,0 +1,20 @@
+<!--
+  Manipulator specific version of abb_driver's 'robot_interface.launch'.
+
+  Defaults provided for IRB 1600:
+   - J23_coupled = true
+
+  Usage:
+    robot_interface_download_irb1600.launch robot_ip:=<value>
+-->
+<launch>
+  <arg name="robot_ip" doc="IP of the controller" />
+  <arg name="J23_coupled" default="true" doc="If true, compensate for J2-J3 parallel linkage" />
+
+  <rosparam command="load" file="$(find abb_irb1600_support)/config/joint_names_irb1600_10_145.yaml" />
+
+  <include file="$(find abb_driver)/launch/robot_interface.launch">
+    <arg name="robot_ip"    value="$(arg robot_ip)" />
+    <arg name="J23_coupled" value="$(arg J23_coupled)" />
+  </include>
+</launch>
diff --git a/abb_irb1600_support/launch/robot_state_visualize_irb1600_10_145.launch b/abb_irb1600_support/launch/robot_state_visualize_irb1600_10_145.launch
@@ -0,0 +1,26 @@
+<!--
+  Manipulator specific version of the state visualizer.
+
+  Defaults provided for IRB 2400:
+   - J23_coupled = true
+
+  Usage:
+    robot_state_visualize_irb2400.launch robot_ip:=<value>
+-->
+<launch>
+  <arg name="robot_ip" doc="IP of the controller" />
+  <arg name="J23_coupled" default="true" doc="If true, compensate for J2-J3 parallel linkage" />
+
+  <rosparam command="load" file="$(find abb_irb1600_support)/config/joint_names_irb1600_10_145.yaml" />
+
+  <include file="$(find abb_driver)/launch/robot_interface.launch">
+    <arg name="robot_ip"    value="$(arg robot_ip)" />
+    <arg name="J23_coupled" value="$(arg J23_coupled)" />
+  </include>
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher" 
+    type="robot_state_publisher" />
+  <include file="$(find abb_irb1600_support)/launch/load_irb1600_10_145.launch" />
+
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>
diff --git a/abb_irb1600_support/launch/test_irb1600_10_145.launch b/abb_irb1600_support/launch/test_irb1600_10_145.launch
@@ -0,0 +1,7 @@
+<launch>
+  <include file="$(find abb_irb1600_support)/launch/load_irb1600_10_145.launch" />
+
+  <node name="joint_state_publisher" 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 $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>
diff --git a/abb_irb1600_support/launch/test_irb1600_6_12.launch b/abb_irb1600_support/launch/test_irb1600_6_12.launch
@@ -1,9 +1,7 @@
 <launch>
   <include file="$(find abb_irb1600_support)/launch/load_irb1600_6_12.launch" />
 
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <param name="use_gui" value="true" />
-  </node>
+  <node name="joint_state_publisher" 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 $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
 </launch>
diff --git a/abb_irb1600_support/launch/test_irb1600_8_145.launch b/abb_irb1600_support/launch/test_irb1600_8_145.launch
@@ -1,9 +1,7 @@
 <launch>
   <include file="$(find abb_irb1600_support)/launch/load_irb1600_8_145.launch" />
 
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <param name="use_gui" value="true" />
-  </node>
+  <node name="joint_state_publisher" 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>
diff --git a/...meshes/irb1600_8_145/collision/link_2.stl → ...meshes/irb1600_x_145/collision/link_2.stl b/...meshes/irb1600_8_145/collision/link_2.stl → ...meshes/irb1600_x_145/collision/link_2.stl
diff --git a/...rt/meshes/irb1600_8_145/visual/link_2.stl → ...rt/meshes/irb1600_x_145/visual/link_2.stl b/...rt/meshes/irb1600_8_145/visual/link_2.stl → ...rt/meshes/irb1600_x_145/visual/link_2.stl
diff --git a/abb_irb1600_support/package.xml b/abb_irb1600_support/package.xml
@@ -8,7 +8,8 @@
     <p>
       This package contains configuration data, 3D models and launch files
       for ABB IRB 1600 manipulators. This package includes the 6kg 1.2m
-      version.  Package based on ABB Document ID: 3HAC023604-001, Rev M.
+      and the 8kg and 10kg 1.45m versions. Package based on ABB Document ID: 
+      3HAC023604-001, Rev AQ.
     </p>
     <p>
       Joint limits and max joint velocities are based on the information in
@@ -39,6 +40,7 @@
   <exec_depend>abb_driver</exec_depend>
   <exec_depend>abb_resources</exec_depend>
   <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>rviz</exec_depend>
 

diff --git a/abb_irb1600_support/tests/roslaunch_test_irb1600_10_145.xml b/abb_irb1600_support/tests/roslaunch_test_irb1600_10_145.xml
@@ -0,0 +1,23 @@
+<launch>
+  <arg name="ip_str" value="127.0.0.1" />
+
+  <group ns="load_irb1600__">
+    <include file="$(find abb_irb1600_support)/launch/load_irb1600_10_145.launch"/>
+  </group>
+
+  <group ns="test_irb1600__">
+    <include file="$(find abb_irb1600_support)/launch/test_irb1600_10_145.launch"/>
+  </group>
+
+  <group ns="robot_interface_download_irb1600__">
+    <include file="$(find abb_irb1600_support)/launch/robot_interface_download_irb1600_10_145.launch">
+      <arg name="robot_ip" value="$(arg ip_str)" />
+    </include>
+  </group>
+
+  <group ns="robot_state_visualize_irb1600__">
+    <include file="$(find abb_irb1600_support)/launch/robot_state_visualize_irb1600_10_145.launch">
+      <arg name="robot_ip" value="$(arg ip_str)" />
+    </include>
+  </group>
+</launch>
diff --git a/abb_irb1600_support/tests/roslaunch_test.xml → ...ort/tests/roslaunch_test_irb1600_6_12.xml b/abb_irb1600_support/tests/roslaunch_test.xml → ...ort/tests/roslaunch_test_irb1600_6_12.xml
diff --git a/abb_irb1600_support/tests/roslaunch_test_irb1600_8_145.xml b/abb_irb1600_support/tests/roslaunch_test_irb1600_8_145.xml
@@ -0,0 +1,23 @@
+<launch>
+  <arg name="ip_str" value="127.0.0.1" />
+
+  <group ns="load_irb1600__">
+    <include file="$(find abb_irb1600_support)/launch/load_irb1600_8_145.launch"/>
+  </group>
+
+  <group ns="test_irb1600__">
+    <include file="$(find abb_irb1600_support)/launch/test_irb1600_8_145.launch"/>
+  </group>
+
+  <group ns="robot_interface_download_irb1600__">
+    <include file="$(find abb_irb1600_support)/launch/robot_interface_download_irb1600_8_145.launch">
+      <arg name="robot_ip" value="$(arg ip_str)" />
+    </include>
+  </group>
+
+  <group ns="robot_state_visualize_irb1600__">
+    <include file="$(find abb_irb1600_support)/launch/robot_state_visualize_irb1600_8_145.launch">
+      <arg name="robot_ip" value="$(arg ip_str)" />
+    </include>
+  </group>
+</launch>
diff --git a/abb_irb1600_support/urdf/irb1600_10_145.xacro b/abb_irb1600_support/urdf/irb1600_10_145.xacro
@@ -0,0 +1,5 @@
+<?xml version="1.0" ?>
+<robot name="abb_irb1600_10_145" xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:include filename="$(find abb_irb1600_support)/urdf/irb1600_10_145_macro.xacro"/>
+  <xacro:abb_irb1600_10_145 prefix=""/>
+</robot>
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1 @@
		controller_joint_names: ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']