Add KR270 R2700

kuka_kr270_support/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(kuka_kr270_support)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+if (CATKIN_ENABLE_TESTING)
+  find_package(roslaunch REQUIRED)
+  roslaunch_add_file_check(test/roslaunch_test.xml)
+endif()
+
+install(DIRECTORY config launch meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

kuka_kr270_support/config/joint_names_kr270r2700.yaml

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+controller_joint_names: ['joint_a1', 'joint_a2', 'joint_a3', 'joint_a4', 'joint_a5', 'joint_a6']

kuka_kr270_support/launch/load_kr270r2700.launch

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+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro '$(find kuka_kr270_support)/urdf/kr270r2700.xacro'" />
+</launch>

kuka_kr270_support/launch/test_kr270r2700.launch

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+<launch>
+  <include file="$(find kuka_kr270_support)/launch/load_kr270r2700.launch" />
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="use_gui" value="true" />
+  </node>
+  <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>

kuka_kr270_support/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>kuka_kr270_support</name>
+  <version>0.1.0</version>
+  <description>
+    <p>
+      ROS-Industrial support for the KUKA KR 270 (and variants).
+    </p>
+    <p>
+      This package contains configuration data, 3D models and launch files
+      for KUKA KR 270 manipulators. This currently includes the R2700 only.
+    </p>
+    <p><b>Specifications</b>:</p>
+    <ul>
+      <li>KR 270 R 2700 - Default</li>
+    </ul>
+    <p>
+      Joint limits and maximum joint velocities are based on the information
+      <!-- found in the online <a href="https://www.kuka.com/-/media/kuka-downloads/imported/6b77eecacfe542d3b736af377562ecaa/0000181028_de.pdf?rev=ec8dfd6ea34947688ab70f343d481a7e&hash=01A6578B4726370C788A35703EE5036D">datasheet</a>. -->
+      All urdfs are based on the default motion and joint velocity limits,
+      unless noted otherwise.
+    </p>
+    <p>
+      Before using any of the configuration files and / or meshes included
+      in this package, be sure to check they are correct for the particular
+      robot model and configuration you intend to use them with.
+    </p>
+    <p>
+      <b>NB</b>: this package currently uses non-valid inertia parameters.
+    </p>
+  </description>
+  <author>Jan Krieglstein</author>
+  <maintainer email="[email protected]">Jan Krieglstein (Fraunhofer IPA)</maintainer>
+  <maintainer email="[email protected]">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
+  <license>BSD</license>
+
+  <!-- <url type="website">http://wiki.ros.org/kuka_kr210_support</url> -->
+  <url type="bugtracker">https://github.com/ros-industrial/kuka_experimental/issues</url>
+  <url type="repository">https://github.com/ros-industrial/kuka_experimental</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <test_depend>roslaunch</test_depend>
+
+  <exec_depend>industrial_robot_client</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+  <export>
+    <architecture_independent/>
+  </export>
+</package>

kuka_kr270_support/test/roslaunch_test.xml

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+<launch>
+  <group ns="load_kr270r2700__">
+    <include file="$(find kuka_kr270_support)/launch/load_kr270r2700.launch"/>
+  </group>
+
+  <group ns="test_kr270r2700__">
+    <include file="$(find kuka_kr270_support)/launch/test_kr270r2700.launch"/>
+  </group>
+</launch>

kuka_kr270_support/urdf/kr270r2700.urdf

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+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from kr270r2700.xacro               | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="kuka_kr270">
+  <!-- links -->
+  <link name="base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.027804 0.00039112 0.14035"/>
+      <mass value="1572.9"/>
+      <inertia ixx="89.282" ixy="-0.47721" ixz="0.85562" iyy="107.51" iyz="0.0067576" izz="172.02"/>
+    </inertial>
+    <visual>
+      <origin rpy="-1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/base_link.dae"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="-1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr210_support/meshes/kr210l150/collision/base_link.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.036811 -0.024697 0.56577"/>
+      <mass value="1385.5"/>
+      <inertia ixx="90.873" ixy="33.809" ixz="17.159" iyy="147.03" iyz="0.063634" izz="168.19"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/link_1.dae"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr210_support/meshes/kr210l150/collision/link_1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.016923 -0.19196 0.44751"/>
+      <mass value="958.62"/>
+      <inertia ixx="180.42" ixy="-0.83462" ixz="0.32549" iyy="177.68" iyz="-20.82" izz="20.495"/>
+    </inertial>
+    <visual>
+      <origin rpy="-1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/link_2.dae"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr210_support/meshes/kr210l150/collision/link_2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.18842 0.18344 -0.042799"/>
+      <mass value="710.03"/>
+      <inertia ixx="11.887" ixy="-0.12154" ixz="-1.3604" iyy="98.805" iyz="-0.056505" izz="96.251"/>
+    </inertial>
+    <visual>
+      <origin rpy="-1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/link_3.dae"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr210_support/meshes/kr210l150/collision/link_3.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.27146 -0.007326 5.2775E-05"/>
+      <mass value="173.73"/>
+      <inertia ixx="1.8001" ixy="-0.18515" ixz="0.00051232" iyy="5.514" iyz="0.00070469" izz="6.3498"/>
+    </inertial>
+    <visual>
+      <origin rpy="-1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/link_4.dae"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr210_support/meshes/kr210l150/collision/link_4.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.04379 0.025984 3.5491E-07"/>
+      <mass value="72.17"/>
+      <inertia ixx="0.3938" ixy="-0.085332" ixz="1.7223E-06" iyy="0.68945" iyz="-7.0292E-06" izz="0.67292"/>
+    </inertial>
+    <visual>
+      <origin rpy="-1.5707963267948966 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/link_5.dae"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr210_support/meshes/kr210l150/collision/link_5.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.017956 -1.5237E-05 0.00015484"/>
+      <mass value="6.3154"/>
+      <inertia ixx="0.031746" ixy="1.7673E-07" ixz="-6.6558E-06" iyy="0.016686" iyz="1.4304E-07" izz="0.016723"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/link_6.dae"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr210_support/meshes/kr210l150/collision/link_6.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <!-- This frame corresponds to the $TOOL coordinate system in KUKA KRC controllers. -->
+  <link name="flange"/>
+  <!-- joints -->
+  <joint name="joint_a1" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0.675"/>
+    <parent link="base_link"/>
+    <child link="link_1"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="0" lower="-3.2288591161895095" upper="3.2288591161895095" velocity="2.1467549799530254"/>
+  </joint>
+  <joint name="joint_a2" type="revolute">
+    <origin rpy="0 0 0" xyz="0.350 0 0"/>
+    <parent link="link_1"/>
+    <child link="link_2"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-0.7853981633974483" upper="1.4835298641951802" velocity="2.007128639793479"/>
+  </joint>
+  <joint name="joint_a3" type="revolute">
+    <origin rpy="0 0 0" xyz="1.150 0 0"/>
+    <parent link="link_2"/>
+    <child link="link_3"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-3.6651914291880923" upper="1.1344640137963142" velocity="1.9547687622336491"/>
+  </joint>
+  <joint name="joint_a4" type="revolute">
+    <origin rpy="0 0 0" xyz="1.200 0 -0.041"/>
+    <parent link="link_3"/>
+    <child link="link_4"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="0" lower="-6.1086523819801535" upper="6.1086523819801535" velocity="3.12413936106985"/>
+  </joint>
+  <joint name="joint_a5" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="link_4"/>
+    <child link="link_5"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-2.181661564992912" upper="2.181661564992912" velocity="3.001966313430247"/>
+  </joint>
+  <joint name="joint_a6" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="link_5"/>
+    <child link="link_6"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="0" lower="-6.1086523819801535" upper="6.1086523819801535" velocity="3.822271061867582"/>
+  </joint>
+  <joint name="link_6-flange" type="fixed">
+    <parent link="link_6"/>
+    <child link="flange"/>
+    <origin rpy="0 0 0" xyz="0.240 0 0"/>
+  </joint>
+  <!-- ROS base_link to KUKA $ROBROOT coordinate system transform -->
+  <link name="base"/>
+  <joint name="base_link-base" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="base"/>
+  </joint>
+  <!-- This frame corresponds to the $TOOL coordinate system in KUKA KRC controllers -->
+  <link name="tool0"/>
+  <joint name="flange-tool0" type="fixed">
+    <parent link="flange"/>
+    <child link="tool0"/>
+    <origin rpy="0 1.5707963267948966 0" xyz="0 0 0"/>
+  </joint>
+</robot>

kuka_kr270_support/urdf/kr270r2700.xacro

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+<?xml version="1.0" ?>
+<robot name="kuka_kr270" xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:include filename="$(find kuka_kr270_support)/urdf/kr270r2700_macro.xacro"/>
+  <xacro:kuka_kr270r2700 prefix=""/>
+</robot>