diff --git a/kuka_kr60_support/CMakeLists.txt b/kuka_kr60_support/CMakeLists.txt new file mode 100644 index 000000000..ab2cd7629 --- /dev/null +++ b/kuka_kr60_support/CMakeLists.txt @@ -0,0 +1,19 @@ + +cmake_minimum_required(VERSION 2.8.3) + +project(kuka_kr60_support) + +find_package(catkin REQUIRED) + +catkin_package() + +if (CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + roslaunch_add_file_check(test/roslaunch_test_kr60ha.xml) +endif() + +foreach(dir launch meshes urdf) + install( + DIRECTORY ${dir}/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) +endforeach() diff --git a/kuka_kr60_support/launch/load_kr60_ha.launch b/kuka_kr60_support/launch/load_kr60_ha.launch new file mode 100644 index 000000000..b48acd879 --- /dev/null +++ b/kuka_kr60_support/launch/load_kr60_ha.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/kuka_kr60_support/launch/test_kr60_ha.launch b/kuka_kr60_support/launch/test_kr60_ha.launch new file mode 100644 index 000000000..710acc68a --- /dev/null +++ b/kuka_kr60_support/launch/test_kr60_ha.launch @@ -0,0 +1,8 @@ + + + + + + + + diff --git a/kuka_kr60_support/meshes/kr60ha/collision/base_link.stl b/kuka_kr60_support/meshes/kr60ha/collision/base_link.stl new file mode 100644 index 000000000..b3a4928f4 Binary files /dev/null and b/kuka_kr60_support/meshes/kr60ha/collision/base_link.stl differ diff --git a/kuka_kr60_support/meshes/kr60ha/collision/link_1.stl b/kuka_kr60_support/meshes/kr60ha/collision/link_1.stl new file mode 100644 index 000000000..08ec37c85 Binary files /dev/null and b/kuka_kr60_support/meshes/kr60ha/collision/link_1.stl differ diff --git a/kuka_kr60_support/meshes/kr60ha/collision/link_2.stl b/kuka_kr60_support/meshes/kr60ha/collision/link_2.stl new file mode 100644 index 000000000..7dea1b3fa Binary files /dev/null and b/kuka_kr60_support/meshes/kr60ha/collision/link_2.stl differ diff --git a/kuka_kr60_support/meshes/kr60ha/collision/link_3.stl b/kuka_kr60_support/meshes/kr60ha/collision/link_3.stl new file mode 100644 index 000000000..8c851098a Binary files /dev/null and b/kuka_kr60_support/meshes/kr60ha/collision/link_3.stl differ diff --git a/kuka_kr60_support/meshes/kr60ha/collision/link_4.stl b/kuka_kr60_support/meshes/kr60ha/collision/link_4.stl new file mode 100644 index 000000000..b7eeab1a2 Binary files /dev/null and b/kuka_kr60_support/meshes/kr60ha/collision/link_4.stl differ diff --git a/kuka_kr60_support/meshes/kr60ha/collision/link_5.stl b/kuka_kr60_support/meshes/kr60ha/collision/link_5.stl new file mode 100644 index 000000000..3a9719196 Binary files /dev/null and b/kuka_kr60_support/meshes/kr60ha/collision/link_5.stl differ diff --git a/kuka_kr60_support/meshes/kr60ha/collision/link_6.stl b/kuka_kr60_support/meshes/kr60ha/collision/link_6.stl new file mode 100644 index 000000000..b526c53d6 Binary files /dev/null and b/kuka_kr60_support/meshes/kr60ha/collision/link_6.stl differ diff --git a/kuka_kr60_support/meshes/kr60ha/visual/base_link.stl b/kuka_kr60_support/meshes/kr60ha/visual/base_link.stl new file mode 100644 index 000000000..365bd69d2 Binary files /dev/null and b/kuka_kr60_support/meshes/kr60ha/visual/base_link.stl differ diff --git a/kuka_kr60_support/meshes/kr60ha/visual/link_1.stl b/kuka_kr60_support/meshes/kr60ha/visual/link_1.stl new file mode 100644 index 000000000..d28ce2308 Binary files /dev/null and b/kuka_kr60_support/meshes/kr60ha/visual/link_1.stl differ diff --git a/kuka_kr60_support/meshes/kr60ha/visual/link_2.stl b/kuka_kr60_support/meshes/kr60ha/visual/link_2.stl new file mode 100644 index 000000000..8a7fc32ba Binary files /dev/null and b/kuka_kr60_support/meshes/kr60ha/visual/link_2.stl differ diff --git a/kuka_kr60_support/meshes/kr60ha/visual/link_3.stl b/kuka_kr60_support/meshes/kr60ha/visual/link_3.stl new file mode 100644 index 000000000..67e2837f2 Binary files /dev/null and b/kuka_kr60_support/meshes/kr60ha/visual/link_3.stl differ diff --git a/kuka_kr60_support/meshes/kr60ha/visual/link_4.stl b/kuka_kr60_support/meshes/kr60ha/visual/link_4.stl new file mode 100644 index 000000000..4fc38439c Binary files /dev/null and b/kuka_kr60_support/meshes/kr60ha/visual/link_4.stl differ diff --git a/kuka_kr60_support/meshes/kr60ha/visual/link_5.stl b/kuka_kr60_support/meshes/kr60ha/visual/link_5.stl new file mode 100644 index 000000000..a0a2737d1 Binary files /dev/null and b/kuka_kr60_support/meshes/kr60ha/visual/link_5.stl differ diff --git a/kuka_kr60_support/meshes/kr60ha/visual/link_6.stl b/kuka_kr60_support/meshes/kr60ha/visual/link_6.stl new file mode 100644 index 000000000..87c3e6791 Binary files /dev/null and b/kuka_kr60_support/meshes/kr60ha/visual/link_6.stl differ diff --git a/kuka_kr60_support/package.xml b/kuka_kr60_support/package.xml new file mode 100644 index 000000000..26a0a0929 --- /dev/null +++ b/kuka_kr60_support/package.xml @@ -0,0 +1,49 @@ + + + kuka_kr60_support + 0.0.1 + +

+ ROS-Industrial support for the KUKA KR 60 (and variants). +

+

+ This package contains configuration data, 3D models and launch files + for KUKA KR 60 manipulators. This currently includes the KR 60 HA only. +

+

Specifications:

+ +

+ Joint limits and maximum joint velocities are based on the information + found in KUKA KR 30, 60 HA with C Variants Specification (V3, 2020-08-17). + All urdfs are based on the default motion and joint velocity limits, + unless noted otherwise. +

+

+ 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. +

+ + Simon Schmeisser (Optonic) + G.A. vd. Hoorn (TU Delft Robotics Institute) + BSD + + http://ros.org/wiki/kuka_kr60_support + https://github.com/ros-industrial/kuka_experimental/issues + https://github.com/ros-industrial/kuka_experimental + + catkin + + roslaunch + + robot_state_publisher + joint_state_publisher + rviz + xacro + + + + + diff --git a/kuka_kr60_support/test/roslaunch_test_kr60ha.xml b/kuka_kr60_support/test/roslaunch_test_kr60ha.xml new file mode 100644 index 000000000..ca50cb3be --- /dev/null +++ b/kuka_kr60_support/test/roslaunch_test_kr60ha.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/kuka_kr60_support/urdf/kr60ha.xacro b/kuka_kr60_support/urdf/kr60ha.xacro new file mode 100644 index 000000000..edf464a90 --- /dev/null +++ b/kuka_kr60_support/urdf/kr60ha.xacro @@ -0,0 +1,6 @@ + + + + + + diff --git a/kuka_kr60_support/urdf/kr60ha_macro.xacro b/kuka_kr60_support/urdf/kr60ha_macro.xacro new file mode 100644 index 000000000..909a8b9d9 --- /dev/null +++ b/kuka_kr60_support/urdf/kr60ha_macro.xacro @@ -0,0 +1,223 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +