robot model for lbr_iiwa_7_r800

kuka_lbr_iiwa_support/CMakeLists.txt

@@ -1,23 +1,16 @@
 cmake_minimum_required(VERSION 2.8.3)
+
 project(kuka_lbr_iiwa_support)
 
 find_package(catkin REQUIRED)
 
 catkin_package()
 
-install(DIRECTORY config launch urdf
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
-# temporarily: until sources are moved to other org/rep
-install(
-  DIRECTORY
-    meshes/lbr_iiwa_14_r820/collision
-  DESTINATION
-    ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes/lbr_iiwa_14_r820/)
+if (CATKIN_ENABLE_TESTING)
+  find_package(roslaunch REQUIRED)
+  roslaunch_add_file_check(test/roslaunch_test_lbr_iiwa_7_r800.xml)
+  roslaunch_add_file_check(test/roslaunch_test_lbr_iiwa_14_r820.xml)
+endif()
 
-# temporarily: until sources are moved to other org/rep
-install(
-  DIRECTORY
-    meshes/lbr_iiwa_14_r820/visual
-  DESTINATION
-    ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes/lbr_iiwa_14_r820/)
+install(DIRECTORY config launch meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

kuka_lbr_iiwa_support/launch/load_lbr_iiwa_7_r800.launch

@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="flange_type" default="basic" />
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find kuka_lbr_iiwa_support)/urdf/lbr_iiwa_7_r800.xacro' flange_type:=$(arg flange_type)" />
+</launch>

kuka_lbr_iiwa_support/launch/test_lbr_iiwa_7_r800.launch

@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="flange_type" default="basic" />
+  <include file="$(find kuka_lbr_iiwa_support)/launch/load_lbr_iiwa_7_r800.launch" pass_all_args="true" />
+  <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_lbr_iiwa_support/test/roslaunch_test_lbr_iiwa_14_r820.xml

@@ -0,0 +1,9 @@
+<launch>
+  <group ns="load_lbr_iiwa_14_r820__">
+    <include file="$(find kuka_lbr_iiwa_support)/launch/load_lbr_iiwa_14_r820.launch"/>
+  </group>
+
+  <group ns="test_lbr_iiwa_14_r820__">
+    <include file="$(find kuka_lbr_iiwa_support)/launch/test_lbr_iiwa_14_r820.launch"/>
+  </group>
+</launch>

kuka_lbr_iiwa_support/test/roslaunch_test_lbr_iiwa_7_r800.xml

@@ -0,0 +1,9 @@
+<launch>
+  <group ns="load_lbr_iiwa_7_r800__">
+    <include file="$(find kuka_lbr_iiwa_support)/launch/load_lbr_iiwa_7_r800.launch"/>
+  </group>
+
+  <group ns="test_lbr_iiwa_7_r800__">
+    <include file="$(find kuka_lbr_iiwa_support)/launch/test_lbr_iiwa_7_r800.launch"/>
+  </group>
+</launch>

kuka_lbr_iiwa_support/urdf/lbr_iiwa_7_r800.xacro

@@ -0,0 +1,5 @@
+<?xml version="1.0" ?>
+<robot name="kuka_lbr_iiwa_7_r800" xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:include filename="$(find kuka_lbr_iiwa_support)/urdf/lbr_iiwa_7_r800_macro.xacro"/>
+  <xacro:kuka_lbr_iiwa_7_r800 prefix=""/>
+</robot>

kuka_lbr_iiwa_support/urdf/lbr_iiwa_7_r800_macro.xacro

@@ -0,0 +1,182 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
+  <xacro:include filename="$(find kuka_lbr_iiwa_support)/urdf/lbr_iiwa_flanges_macro.xacro"/>
+
+  <!-- current support for the following values: basic, pneumatic_touch -->
+  <xacro:arg name="flange_type" default="basic" />
+
+  <xacro:macro name="kuka_lbr_iiwa_7_r800" params="prefix">
+    <!-- link list -->
+    <link name="${prefix}base_link">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_7_r800/visual/base_link.stl" />
+        </geometry>
+	<xacro:material_kuka_ral_pearly_white />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_7_r800/collision/base_link.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_1">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_7_r800/visual/link_1.stl" />
+        </geometry>
+	<xacro:material_kuka_ral_pearly_white />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_7_r800/collision/link_1.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_2">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_7_r800/visual/link_2.stl" />
+        </geometry>
+	<xacro:material_kuka_ral_pearly_white />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_7_r800/collision/link_2.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_3">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_7_r800/visual/link_3.stl" />
+        </geometry>
+	<xacro:material_kuka_ral_pearly_white />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_7_r800/collision/link_3.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_4">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_7_r800/visual/link_4.stl" />
+        </geometry>
+	<xacro:material_kuka_ral_pearly_white />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_7_r800/collision/link_4.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_5">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_7_r800/visual/link_5.stl" />
+        </geometry>
+	<xacro:material_kuka_ral_pearly_white />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_7_r800/collision/link_5.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_6">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_7_r800/visual/link_6.stl" />
+        </geometry>
+	<xacro:material_kuka_ral_pearly_white />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_7_r800/collision/link_6.stl" />
+        </geometry>
+
+      </collision>
+    </link>
+    <xacro:kuka_lbr_iiwa_flange_link prefix="${prefix}" flange_type="$(arg flange_type)"/>
+    <link name="${prefix}tool0" />
+    <!-- end of link list -->
+
+    <!-- joint list -->
+    <joint name="${prefix}joint_a1" type="revolute">
+      <origin xyz="0 0 0.34" rpy="0 0 0" />
+      <parent link="${prefix}base_link" />
+      <child link="${prefix}link_1" />
+      <axis xyz="0 0 1" />
+      <limit lower="${radians(-170)}" upper="${radians(170)}" effort="0" velocity="${radians(98)}" />
+    </joint>
+    <joint name="${prefix}joint_a2" type="revolute">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <parent link="${prefix}link_1" />
+      <child link="${prefix}link_2" />
+      <axis xyz="0 1 0" />
+      <limit lower="${radians(-120)}" upper="${radians(120)}" effort="0" velocity="${radians(98)}" />
+    </joint>
+    <joint name="${prefix}joint_a3" type="revolute">
+      <origin xyz="0 0 0.40" rpy="0 0 0" />
+      <parent link="${prefix}link_2" />
+      <child link="${prefix}link_3" />
+      <axis xyz="0 0 1" />
+      <limit lower="${radians(-170)}" upper="${radians(170)}" effort="0" velocity="${radians(100)}" />
+    </joint>
+    <joint name="${prefix}joint_a4" type="revolute">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <parent link="${prefix}link_3" />
+      <child link="${prefix}link_4" />
+      <axis xyz="0 -1 0" />
+      <limit lower="${radians(-120)}" upper="${radians(120)}" effort="0" velocity="${radians(130)}" />
+    </joint>
+    <joint name="${prefix}joint_a5" type="revolute">
+      <origin xyz="0 0 0.40" rpy="0 0 0" />
+      <parent link="${prefix}link_4" />
+      <child link="${prefix}link_5" />
+      <axis xyz="0 0 1" />
+      <limit lower="${radians(-170)}" upper="${radians(170)}" effort="0" velocity="${radians(140)}" />
+    </joint>
+    <joint name="${prefix}joint_a6" type="revolute">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <parent link="${prefix}link_5" />
+      <child link="${prefix}link_6" />
+      <axis xyz="0 1 0" />
+      <limit lower="${radians(-120)}" upper="${radians(120)}" effort="0" velocity="${radians(180)}" />
+    </joint>
+    <xacro:kuka_lbr_iiwa_flange_joint prefix="${prefix}" flange_type="$(arg flange_type)"/>
+    <joint name="${prefix}joint_a7-tool0" type="fixed">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <parent link="${prefix}link_7" />
+      <child link="${prefix}tool0" />
+      <axis xyz="0 0 0" />
+    </joint>
+    <!-- end of joint list -->
+
+    <!-- ROS base_link to KUKA $ROBROOT coordinate system transform -->
+    <link name="${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>
+  </xacro:macro>
+</robot>
+

kuka_lbr_iiwa_support/urdf/lbr_iiwa_flanges_macro.xacro

@@ -0,0 +1,35 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:macro name="kuka_lbr_iiwa_flange_link" params="prefix flange_type" >
+    <link name="${prefix}link_7">
+      <visual>
+	<origin xyz="0 0 0" rpy="0 0 0" />
+	<geometry>
+          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_7_r800/visual/flange_${flange_type}.stl" />
+	</geometry>
+	<xacro:material_kuka_ral_silver_gray />
+      </visual>
+      <collision>
+	<origin xyz="0 0 0" rpy="0 0 0" />
+	<geometry>
+          <mesh filename="package://kuka_lbr_iiwa_support/meshes/lbr_iiwa_7_r800/collision/flange_${flange_type}.stl" />
+	</geometry>
+      </collision>
+    </link>
+  </xacro:macro>
+
+  <xacro:macro name="kuka_lbr_iiwa_flange_joint" params="prefix flange_type">
+    <joint name="${prefix}joint_a7" type="revolute">
+      <xacro:if value="${flange_type == 'basic'}">
+	<origin xyz="0 0 0.126" rpy="0 0 0" />
+      </xacro:if>
+      <xacro:if value="${flange_type == 'pneumatic_touch'}">
+	<origin xyz="0 0 0.152" rpy="0 0 0" />
+      </xacro:if>
+      <parent link="${prefix}link_6" />
+      <child link="${prefix}link_7" />
+      <axis xyz="0 0 1" />
+      <limit lower="${radians(-175)}" upper="${radians(175)}" effort="0" velocity="${radians(135)}" />
+    </joint>
+  </xacro:macro>
+</robot>