diff --git a/kuka_kr10_gazebo/CMakeLists.txt b/kuka_kr10_gazebo/CMakeLists.txt new file mode 100644 index 000000000..169bda83a --- /dev/null +++ b/kuka_kr10_gazebo/CMakeLists.txt @@ -0,0 +1,9 @@ +cmake_minimum_required(VERSION 2.8.3) +project(kuka_kr10_gazebo) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY config launch urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/kuka_kr10_gazebo/README.md b/kuka_kr10_gazebo/README.md new file mode 100644 index 000000000..5374a6b77 --- /dev/null +++ b/kuka_kr10_gazebo/README.md @@ -0,0 +1,11 @@ +kuka_kr10_gazebo +================ + +## Usage +The simulation starts up paused by default. This enables us to turn off the physics engine, this is important to get the desired behavior from the ros-control position controller. + + +To bring up the simulated robot in Gazebo, run: +``` +roslaunch kuka_kr10_gazebo kr10_gazebo.launch +``` diff --git a/kuka_kr10_gazebo/config/joint_state_controller.yaml b/kuka_kr10_gazebo/config/joint_state_controller.yaml new file mode 100644 index 000000000..9cb3a6599 --- /dev/null +++ b/kuka_kr10_gazebo/config/joint_state_controller.yaml @@ -0,0 +1,3 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 diff --git a/kuka_kr10_gazebo/config/kr10_arm_controller.yaml b/kuka_kr10_gazebo/config/kr10_arm_controller.yaml new file mode 100644 index 000000000..ad488e3b4 --- /dev/null +++ b/kuka_kr10_gazebo/config/kr10_arm_controller.yaml @@ -0,0 +1,21 @@ +arm_controller: + type: position_controllers/JointTrajectoryController + joints: + - joint_a1 + - joint_a2 + - joint_a3 + - joint_a4 + - joint_a5 + - joint_a6 + constraints: + goal_time: 0.6 + stopped_velocity_tolerance: 0.05 + joint_1: {trajectory: 0.1, goal: 0.1} + joint_2: {trajectory: 0.1, goal: 0.1} + joint_3: {trajectory: 0.1, goal: 0.1} + joint_4: {trajectory: 0.1, goal: 0.1} + joint_5: {trajectory: 0.1, goal: 0.1} + joint_6: {trajectory: 0.1, goal: 0.1} + stop_trajectory_duration: 0.5 + state_publish_rate: 25 + action_monitor_rate: 10 diff --git a/kuka_kr10_gazebo/launch/kr10_control.launch b/kuka_kr10_gazebo/launch/kr10_control.launch new file mode 100644 index 000000000..355183429 --- /dev/null +++ b/kuka_kr10_gazebo/launch/kr10_control.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/kuka_kr10_gazebo/launch/kr10_gazebo.launch b/kuka_kr10_gazebo/launch/kr10_gazebo.launch new file mode 100644 index 000000000..b469dd1b2 --- /dev/null +++ b/kuka_kr10_gazebo/launch/kr10_gazebo.launch @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/kuka_kr10_gazebo/launch/load_kr10.launch b/kuka_kr10_gazebo/launch/load_kr10.launch new file mode 100644 index 000000000..e1d3473cb --- /dev/null +++ b/kuka_kr10_gazebo/launch/load_kr10.launch @@ -0,0 +1,4 @@ + + + + diff --git a/kuka_kr10_gazebo/launch/spawn_kr10.launch b/kuka_kr10_gazebo/launch/spawn_kr10.launch new file mode 100644 index 000000000..cc906b616 --- /dev/null +++ b/kuka_kr10_gazebo/launch/spawn_kr10.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + diff --git a/kuka_kr10_gazebo/package.xml b/kuka_kr10_gazebo/package.xml new file mode 100644 index 000000000..52969ee50 --- /dev/null +++ b/kuka_kr10_gazebo/package.xml @@ -0,0 +1,40 @@ + + kuka_kr10_gazebo + 0.0.1 + +

+ ROS-Industrial Gazebo support package for the Kuka kr10 (and variants). +

+

+ This package contains the configuration data and launch files required + to simulate the Kuka kr10 manipulator in Gazebo. This includes the base + model, and the kr10. +

+

+ Before using any of the configuration files included in this package, be + sure to check they are correct for the particular robot model and + configuration you intend to use them with. +

+ + Christopher Schindlbeck (Leibniz University Hannover) + G.A. vd. Hoorn (TU Delft Robotics Institute) + Apache2.0 + + http://wiki.ros.org/kuka_experimental + https://github.com/ros-industrial/kuka_experimental/issues + https://github.com/ros-industrial/kuka_experimental + + catkin + + kuka_resources + kuka_kr10_support + gazebo + gazebo_ros + gazebo_ros_control + gazebo_ros_pkgs + joint_state_controller + position_controllers + joint_trajectory_controller + robot_state_publisher + ros_controllers + diff --git a/kuka_kr10_gazebo/urdf/kr10.xacro b/kuka_kr10_gazebo/urdf/kr10.xacro new file mode 100644 index 000000000..5834678e2 --- /dev/null +++ b/kuka_kr10_gazebo/urdf/kr10.xacro @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/kuka_kr10_gazebo/urdf/kr10_macro.xacro b/kuka_kr10_gazebo/urdf/kr10_macro.xacro new file mode 100644 index 000000000..c21f87af6 --- /dev/null +++ b/kuka_kr10_gazebo/urdf/kr10_macro.xacro @@ -0,0 +1,111 @@ + + + + + + + + + + + /${prefix} + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + 1 + + + + /${prefix} + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + 1 + + + + /${prefix} + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + 1 + + + + /${prefix} + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + 1 + + + + /${prefix} + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + 1 + + + + /${prefix} + transmission_interface/SimpleTransmission + + hardware_interface/PositionJointInterface + + + 1 + + + + + + + Gazebo/Black + true + + + Gazebo/Orange + true + + + Gazebo/Orange + true + + + Gazebo/Orange + true + + + Gazebo/Orange + true + + + Gazebo/Orange + true + + + Gazebo/Grey + true + + + + + + /${prefix} + gazebo_ros_control/DefaultRobotHWSim + + + + + diff --git a/kuka_kr10_support/urdf/kr10r1100sixx.xacro b/kuka_kr10_support/urdf/kr10r1100sixx.xacro index a3a7e2e6f..3fd5ab1b0 100644 --- a/kuka_kr10_support/urdf/kr10r1100sixx.xacro +++ b/kuka_kr10_support/urdf/kr10r1100sixx.xacro @@ -1,4 +1,5 @@ + diff --git a/kuka_kr10_support/urdf/kr10r1100sixx_macro.xacro b/kuka_kr10_support/urdf/kr10r1100sixx_macro.xacro index dee4b6065..0385d0cbc 100644 --- a/kuka_kr10_support/urdf/kr10r1100sixx_macro.xacro +++ b/kuka_kr10_support/urdf/kr10r1100sixx_macro.xacro @@ -3,6 +3,35 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + @@ -18,6 +47,9 @@ + + + @@ -33,6 +65,9 @@ + + + @@ -48,6 +83,9 @@ + + + @@ -63,6 +101,9 @@ + + + @@ -78,6 +119,9 @@ + + + @@ -93,6 +137,9 @@ + + + @@ -108,47 +155,50 @@ + + + - + - + - + - + - + - +