Kr150 r3100 2 (#208)

* Add Kuka KR 150 R3100-2

kuka_kr150_support/CMakeLists.txt

@@ -9,6 +9,7 @@ catkin_package()
 if (CATKIN_ENABLE_TESTING)
   find_package(roslaunch REQUIRED)
   roslaunch_add_file_check(test/roslaunch_test.xml)
+  roslaunch_add_file_check(test/roslaunch_test_kr150r3100_2.xml)
 endif()
 
 install(DIRECTORY config launch meshes urdf

kuka_kr150_support/config/opw_parameters_kr150r3100_2.yaml

@@ -0,0 +1,20 @@
+#
+# 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:  0.33
+    a2:  -0.115
+    b:   0.0
+    c1:  0.645
+    c2:  1.35
+    c3:  1.42
+    c4:  0.215
+opw_kinematics_joint_offsets: [0.0, deg(-90.0), 0.0, 0.0, 0.0, 0.0]
+opw_kinematics_joint_sign_corrections: [-1, 1, 1, -1, 1, -1]

kuka_kr150_support/launch/load_kr150r3100_2.launch

@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- Load robot description to parameter server -->
+  <param name="robot_description" command="$(find xacro)/xacro '$(find kuka_kr150_support)/urdf/kr150r3100_2.xacro'"/>
+</launch>

kuka_kr150_support/launch/test_kr150r3100_2.launch

@@ -0,0 +1,9 @@
+<?xml version="1.0"?>
+<launch>
+  <include file="$(find kuka_kr150_support)/launch/load_kr150r3100_2.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_kr150_support/package.xml

@@ -14,13 +14,20 @@
     <p><b>Specifications</b>:</p>
     <ul>
       <li>KR 150-2 - Default</li>
+      <li>KR 150 R3100-2 - Default</li>
     </ul>
     <p>
       Joint limits and maximum joint velocities are based on the information
       found in <em>Series 2000 KR 150-2</em>, version <em>PF0020/E/1/0709</em>.
       All urdfs are based on the default motion and joint velocity limits,
       unless noted otherwise.
     </p>
+    <p>
+      Joint limits and maximum joint velocities of KR 150 R3100-2 are based on the information
+      found in the online datasheet <em>KR 150 R3100-2</em>, version <em>0000-346-515 / V22.1 / 26.03.2021</em>.
+      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

kuka_kr150_support/test/roslaunch_test_kr150r3100_2.xml

@@ -0,0 +1,9 @@
+<launch>
+  <group ns="load_kr150r3100_2__">
+    <include file="$(find kuka_kr150_support)/launch/load_kr150r3100_2.launch"/>
+  </group>
+
+  <group ns="test_kr150r3100_2__">
+    <include file="$(find kuka_kr150_support)/launch/test_kr150r3100_2.launch"/>
+  </group>
+</launch>

kuka_kr150_support/urdf/kr150r3100_2.xacro

@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<robot name="kuka_kr150r3100_2" xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:include filename="$(find kuka_kr150_support)/urdf/kr150r3100_2_macro.xacro" />
+  <xacro:kuka_kr150r3100_2 prefix=""/>
+</robot>

kuka_kr150_support/urdf/kr150r3100_2_macro.xacro

@@ -0,0 +1,197 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+
+  <xacro:macro name="kuka_kr150r3100_2" params="prefix">
+    <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
+    <!-- LINKS -->
+    <!-- base link -->
+    <link name="${prefix}base_link">
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr150_support/meshes/kr150r3100_2/visual/base_link.stl" />
+        </geometry>
+        <xacro:material_kuka_pedestal />
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr150_support/meshes/kr150r3100_2/collision/base_link.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <!-- link 1 (A1) -->
+    <link name="${prefix}link_1">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr150_support/meshes/kr150r3100_2/visual/link_1.stl" />
+        </geometry>
+        <xacro:material_kuka_orange />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr150_support/meshes/kr150r3100_2/collision/link_1.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <!-- link 2 -->
+    <link name="${prefix}link_2">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr150_support/meshes/kr150r3100_2/visual/link_2.stl"/>
+        </geometry>
+        <xacro:material_kuka_orange />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr150_support/meshes/kr150r3100_2/collision/link_2.stl"  />
+        </geometry>
+      </collision>
+    </link>
+    <!-- link 3 -->
+    <link name="${prefix}link_3">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr150_support/meshes/kr150r3100_2/visual/link_3.stl" />
+        </geometry>
+        <xacro:material_kuka_orange />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr150_support/meshes/kr150r3100_2/collision/link_3.stl"  />
+        </geometry>
+      </collision>
+    </link>
+    <!-- link 4 -->
+    <link name="${prefix}link_4">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr150_support/meshes/kr150r3100_2/visual/link_4.stl" />
+        </geometry>
+        <xacro:material_kuka_orange />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr150_support/meshes/kr150r3100_2/collision/link_4.stl"  />
+        </geometry>
+      </collision>
+    </link>
+    <!-- link 5 -->
+    <link name="${prefix}link_5">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr150_support/meshes/kr150r3100_2/visual/link_5.stl" />
+        </geometry>
+        <xacro:material_kuka_orange />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr150_support/meshes/kr150r3100_2/collision/link_5.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <!-- link 6 -->
+    <link name="${prefix}link_6">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr150_support/meshes/kr150r3100_2/visual/link_6.stl" />
+        </geometry>
+        <xacro:material_kuka_orange />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr150_support/meshes/kr150r3100_2/collision/link_6.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <!-- END LINKS -->
+
+    <!-- JOINTS -->
+    <!-- joint 1 (A1) -->
+    <joint name="${prefix}joint_a1" type="revolute">
+      <origin xyz="0 0 0.645" rpy="0 0 0"/>
+      <parent link="${prefix}base_link"/>
+      <child link="${prefix}link_1"/>
+      <axis xyz="0 0 -1"/>
+      <limit effort="0" lower="${radians(-185)}" upper="${radians(185)}" velocity="${radians(105)}"/>
+    </joint>
+    <!-- joint 2 (A2) -->
+    <joint name="${prefix}joint_a2" type="revolute">
+      <origin xyz="0.33 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_1"/>
+      <child link="${prefix}link_2"/>
+      <axis xyz="0 1 0"/>
+      <limit effort="0" lower="${radians(-140)}" upper="${radians(-5)}" velocity="${radians(107)}"/>
+    </joint>
+    <!-- joint 3 (A3) -->
+    <joint name="${prefix}joint_a3" type="revolute">
+      <origin xyz="1.350 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_2"/>
+      <child link="${prefix}link_3"/>
+      <axis xyz="0 1 0"/>
+      <limit effort="0" lower="${radians(-120)}" upper="${radians(168)}" velocity="${radians(114)}"/>
+    </joint>
+    <!-- joint 4 (A4) -->
+    <joint name="${prefix}joint_a4" type="revolute">
+      <origin xyz="1.420 0 0.115" rpy="0 0 0"/>
+      <parent link="${prefix}link_3"/>
+      <child link="${prefix}link_4"/>
+      <axis xyz="-1 0 0"/>
+      <limit effort="0" lower="${radians(-350)}" upper="${radians(350)}" velocity="${radians(190)}"/>
+    </joint>
+    <!-- joint 5 (A5) -->
+    <joint name="${prefix}joint_a5" type="revolute">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_4"/>
+      <child link="${prefix}link_5"/>
+      <axis xyz="0 1 0"/>
+      <limit effort="0" lower="${radians(-125)}" upper="${radians(125)}" velocity="${radians(180)}"/>
+    </joint>
+    <!-- joint 6 (A6) -->
+    <joint name="${prefix}joint_a6" type="revolute">
+      <origin xyz="0.215 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_5"/>
+      <child link="${prefix}link_6"/>
+      <axis xyz="-1 0 0"/>
+      <limit effort="0" lower="${radians(-350)}" upper="${radians(350)}" velocity="${radians(260)}"/>
+    </joint>
+
+    <!-- ROS-Industrial 'base' frame: 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="${prefix}base"/>
+    </joint>
+
+    <!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
+    <link name="${prefix}flange" />
+    <joint name="${prefix}joint_6-flange" type="fixed">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <parent link="${prefix}link_6" />
+      <child link="${prefix}flange" />
+    </joint>
+
+    <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
+    <!-- This frame corresponds to the $FLANGE coordinate system in KUKA KRC controllers. -->
+    <link name="${prefix}tool0"/>
+    <joint name="${prefix}flange-tool0" type="fixed">
+      <parent link="${prefix}flange"/>
+      <child link="${prefix}tool0"/>
+      <origin xyz="0 0 0" rpy="0 ${radians(90)} 0"/>
+    </joint>
+
+  </xacro:macro>
+</robot>