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Kr210 kinematics update #124

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Kr210 kinematics update #124

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a08e884
shot at correcting kr210l150 kinematics and adding kr210l150-2
jwhendy Apr 15, 2018
bf8cf1f
missed some added files
jwhendy Apr 15, 2018
8824b8a
Merge branch 'indigo-devel' into kr210_kinematics_update
gavanderhoorn May 3, 2018
ff1b3d2
split L150 and L150-2 into separate xacro/launch files
jwhendy May 5, 2018
0e8c463
unified KR210 and KR210-2 with a new arg, variant
jwhendy May 19, 2018
d756f43
moved variants macro.xacro into main file; updated test to take varia…
jwhendy May 19, 2018
bf6c255
must have omitted a git rm on launch files
jwhendy May 19, 2018
7677311
was still including the _variants macro; removed
jwhendy May 19, 2018
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3 changes: 3 additions & 0 deletions kuka_kr210_support/launch/load_kr210l150-2.launch
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<launch>
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I would rename this file to load_kr210l150_2.launch (i.e., no dashes)

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This file is non-existent now.

<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find kuka_kr210_support)/urdf/kr210l150-2.xacro'" />
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This line no loner works with most recent changes.

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This file is non-existent now.

</launch>
3 changes: 2 additions & 1 deletion kuka_kr210_support/launch/load_kr210l150.launch
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<launch>
<param name="robot_description" command="$(find xacro)/xacro.py '$(find kuka_kr210_support)/urdf/kr210l150.xacro'" />
<arg name="variant" default="" />
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find kuka_kr210_support)/urdf/kr210l150.xacro' variant:=$(arg variant)" />
</launch>
8 changes: 8 additions & 0 deletions kuka_kr210_support/launch/test_kr210l150-2.launch
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<launch>
<include file="$(find kuka_kr210_support)/launch/load_kr210l150-2.launch" />
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Same as above... update to use new variant arguments

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This file is non-existent now.

<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 $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
</launch>
3 changes: 2 additions & 1 deletion kuka_kr210_support/launch/test_kr210l150.launch
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<launch>
<include file="$(find kuka_kr210_support)/launch/load_kr210l150.launch" />
<arg name="variant" default="" />
<include file="$(find kuka_kr210_support)/launch/load_kr210l150.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>
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848 changes: 0 additions & 848 deletions kuka_kr210_support/meshes/kr210l150/visual/base_link.dae
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2,245 changes: 0 additions & 2,245 deletions kuka_kr210_support/meshes/kr210l150/visual/link_1.dae
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402 changes: 0 additions & 402 deletions kuka_kr210_support/meshes/kr210l150/visual/link_2.dae
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775 changes: 0 additions & 775 deletions kuka_kr210_support/meshes/kr210l150/visual/link_3.dae
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410 changes: 0 additions & 410 deletions kuka_kr210_support/meshes/kr210l150/visual/link_4.dae
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2,099 changes: 0 additions & 2,099 deletions kuka_kr210_support/meshes/kr210l150/visual/link_6.dae
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10 changes: 10 additions & 0 deletions kuka_kr210_support/test/roslaunch_test_kr210l150-2.xml
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<?xml version="1.0" ?>
<launch>
<group ns="load_kr210l150-2__">
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underscores

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This file is non-existent now.

<include file="$(find kuka_kr210_support)/launch/load_kr210l150-2.launch"/>
</group>

<group ns="test_kr210l150-2__">
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dash to underscore

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This file is non-existent now.

<include file="$(find kuka_kr210_support)/launch/test_kr210l150-2.launch"/>
</group>
</launch>
10 changes: 10 additions & 0 deletions kuka_kr210_support/test/roslaunch_test_kr210l150.xml
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<?xml version="1.0" ?>
<launch>
<group ns="load_kr210l150__">
<include file="$(find kuka_kr210_support)/launch/load_kr210l150.launch"/>
</group>

<group ns="test_kr210l150__">
<include file="$(find kuka_kr210_support)/launch/test_kr210l150.launch"/>
</group>
</launch>
22 changes: 22 additions & 0 deletions kuka_kr210_support/urdf/kr210_variants_macro.xacro
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<?xml version="1.0"?>
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I would move this code into the kr210l150_macro.xacro and then delete this file. The variants naming is confusing here.

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Done. Committed/pushed. I had a tricky time figuring out how to get at the arg from the top level file. From looking around xacro:property seemed like the ticket, so that's what I used. Hopefully that's correct? I admit to not knowing precisely why arg vs. param vs. property...

  <!-- for the KR210 L150, use ""; for the KR210 L150-2, use "_2" -->
  <xacro:arg name="variant" default="" />
  <xacro:property name="variant" value="$(arg variant)"/>

<robot xmlns:xacro="http://wiki.ros.org/xacro">
<xacro:macro name="kuka_kr210l150_a3" params="prefix variant">
<joint name="${prefix}joint_a3" type="revolute">
<xacro:if value="${variant == ''}">
<origin xyz="0 0 1.25" rpy="0 ${radians(90)} 0"/>
</xacro:if>
<xacro:if value="${variant == '_2'}">
<origin xyz="0 0 1.25" rpy="0 0 0"/>
</xacro:if>
<parent link="${prefix}link_2"/>
<child link="${prefix}link_3"/>
<axis xyz="0 1 0"/>
<xacro:if value="${variant == ''}">
<limit lower="${radians(-209)}" upper="${radians(65)}" effort="0" velocity="${radians(81)}"/>
</xacro:if>
<xacro:if value="${variant == '_2'}">
<limit lower="${radians(-119)}" upper="${radians(155)}" effort="0" velocity="${radians(81)}"/>
</xacro:if>
</joint>
</xacro:macro>
</robot>
217 changes: 0 additions & 217 deletions kuka_kr210_support/urdf/kr210l150.urdf
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2 changes: 1 addition & 1 deletion kuka_kr210_support/urdf/kr210l150.xacro
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<?xml version="1.0" ?>
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Should have a corresponding kr210l150_2.xacro file as well?

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I was thinking not anymore? I apologize as I flopped back and forth on trying to use an argument, then quasi giving up and just making replicate macro/xacro, launch, and test files, then going back to an argument. So I figured the path was either:

  • no _2 argument, and duplicate everything. The only difference would be the definition of joint_a3 per variant
  • use the _2 argument, but don't replicate all the files with a foo_2.bar shadow

<robot name="kuka_kr210" xmlns:xacro="http://wiki.ros.org/xacro">
<robot name="kuka_kr210l150" xmlns:xacro="http://wiki.ros.org/xacro">
<xacro:include filename="$(find kuka_kr210_support)/urdf/kr210l150_macro.xacro"/>
<xacro:kuka_kr210l150 prefix=""/>
</robot>
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