ros-industrial · cschindlbeck · Apr 16, 2018 · Apr 17, 2018 · Apr 17, 2018 · Apr 20, 2018
diff --git a/kuka_kr10_gazebo/CMakeLists.txt 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 ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/kuka_kr10_gazebo/README.md b/kuka_kr10_gazebo/README.md
@@ -0,0 +1,11 @@
+kuka_kr10_gazebo
+================
+
+## Usage
+The simulation starts up paused by default. This enables us to turn off the physics engine, this is important to get the desired behavior from the ros-control position controller.
+
+
+To bring up the simulated robot in Gazebo, run:
+```
+roslaunch kuka_kr10_gazebo kr10_gazebo.launch
+```
diff --git a/kuka_kr10_gazebo/config/joint_state_controller.yaml b/kuka_kr10_gazebo/config/joint_state_controller.yaml
@@ -0,0 +1,3 @@
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50  
diff --git a/kuka_kr10_gazebo/config/kr10_arm_controller.yaml b/kuka_kr10_gazebo/config/kr10_arm_controller.yaml
@@ -0,0 +1,21 @@
+arm_controller:
+  type: position_controllers/JointTrajectoryController
+  joints:
+    - joint_a1
+    - joint_a2
+    - joint_a3
+    - joint_a4
+    - joint_a5
+    - joint_a6
+  constraints:
+    goal_time: 0.6
+    stopped_velocity_tolerance: 0.05
+    joint_1: {trajectory: 0.1, goal: 0.1}
+    joint_2: {trajectory: 0.1, goal: 0.1}
+    joint_3: {trajectory: 0.1, goal: 0.1}
+    joint_4: {trajectory: 0.1, goal: 0.1}
+    joint_5: {trajectory: 0.1, goal: 0.1}
+    joint_6: {trajectory: 0.1, goal: 0.1}
+  stop_trajectory_duration: 0.5
+  state_publish_rate:  25
+  action_monitor_rate: 10
diff --git a/kuka_kr10_gazebo/launch/kr10_control.launch b/kuka_kr10_gazebo/launch/kr10_control.launch
@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- load the joint state controller -->
+  <rosparam file="$(find kuka_kr10_gazebo)/config/joint_state_controller.yaml" command="load" />
+  <node name="joint_state_controller_spawner" pkg="controller_manager" type="spawner" args="joint_state_controller" />
+
+  <!-- load the arm controller -->
+  <rosparam file="$(find kuka_kr10_gazebo)/config/kr10_arm_controller.yaml" command="load" />
+  <node name="kuka_kr10_controller_spawner" pkg="controller_manager" type="spawner" args="arm_controller" />
+</launch>
diff --git a/kuka_kr10_gazebo/launch/kr10_gazebo.launch b/kuka_kr10_gazebo/launch/kr10_gazebo.launch
@@ -0,0 +1,34 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="paused" default="false"/>
+  <arg name="gui" default="true"/>
+  <arg name="remap" default="true"/>
+
+  <group if="$(arg remap)">
+    <!-- remap topics to conform to ROS-I specifications -->
+    <remap from="/arm_controller/follow_joint_trajectory" to="/joint_trajectory_action"/>
+    <remap from="/arm_controller/state" to="/feedback_states"/>
+    <remap from="/arm_controller/command" to="/joint_path_command"/>
+
+    <!-- startup simulated world -->
+    <include file="$(find gazebo_ros)/launch/empty_world.launch">
+      <arg name="world_name" value="worlds/empty.world"/>
+      <arg name="gui" value="$(arg gui)"/>
+      <arg name="paused" value="$(arg paused)"/>
+    </include>
+  </group>
+
+  <group unless="$(arg remap)">
+    <!-- startup simulated world -->
+    <include file="$(find gazebo_ros)/launch/empty_world.launch">
+      <arg name="world_name" value="worlds/empty.world"/>
+      <arg name="gui" value="$(arg gui)"/>
+      <arg name="paused" value="$(arg paused)"/>
+    </include>
+  </group>
+
+  <!-- send robot URDF to ROS param server,
+       and spawn robot in Gazebo, along with necessary ROS nodes -->
+  <include file="$(find kuka_kr10_gazebo)/launch/spawn_kr10.launch"/>
+
+</launch>
diff --git a/kuka_kr10_gazebo/launch/load_kr10.launch b/kuka_kr10_gazebo/launch/load_kr10.launch
@@ -0,0 +1,4 @@
+<?xml version="1.0"?>
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find kuka_kr10_gazebo)/urdf/kr10.xacro'"/>
+</launch>
diff --git a/kuka_kr10_gazebo/launch/spawn_kr10.launch b/kuka_kr10_gazebo/launch/spawn_kr10.launch
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- send robot urdf to ROS param server -->
+  <include file="$(find kuka_kr10_gazebo)/launch/load_kr10.launch"/>
+
+  <!-- push robot_description to factory and spawn robot in gazebo -->
+  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model"
+        output="screen" respawn="false"
+        args="-urdf
+              -param robot_description
+              -model kuka_kr10r1100sixx
+              -x 0.0
+              -y 0.0
+              -z 0.0
+              -R 0.0
+              -P 0.0
+              -Y 0.0" />
+
+  <!-- convert joint states to TF transforms for rviz, etc -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+
+  <!-- init and start Gazebo ros_control interface -->
+  <include file="$(find kuka_kr10_gazebo)/launch/kr10_control.launch"/>
+
+</launch>
diff --git a/kuka_kr10_gazebo/package.xml b/kuka_kr10_gazebo/package.xml
@@ -0,0 +1,40 @@
+<package>
+  <name>kuka_kr10_gazebo</name>
+  <version>0.0.1</version>
+  <description>
+    <p>
+      ROS-Industrial Gazebo support package for the Kuka kr10 (and variants).
+    </p>
+    <p>
+      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.
+    </p>
+    <p>
+      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.
+    </p>
+  </description>
+  <author email="[email protected]">Christopher Schindlbeck (Leibniz University Hannover)</author>
+  <maintainer email="[email protected]">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
+  <license>Apache2.0</license>
+
+  <url type="website">http://wiki.ros.org/kuka_experimental</url>
+  <url type="bugtracker">https://github.com/ros-industrial/kuka_experimental/issues</url>
+  <url type="repository">https://github.com/ros-industrial/kuka_experimental</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <run_depend>kuka_resources</run_depend>
+  <run_depend>kuka_kr10_support</run_depend>
+  <run_depend>gazebo</run_depend>
+  <run_depend>gazebo_ros</run_depend>
+  <run_depend>gazebo_ros_control</run_depend>
+  <run_depend>gazebo_ros_pkgs</run_depend>
+  <run_depend>joint_state_controller</run_depend>
+  <run_depend>position_controllers</run_depend>
+  <run_depend>joint_trajectory_controller</run_depend>
+  <run_depend>robot_state_publisher</run_depend>
+  <run_depend>ros_controllers</run_depend>
+</package>
diff --git a/kuka_kr10_gazebo/urdf/kr10.xacro b/kuka_kr10_gazebo/urdf/kr10.xacro
@@ -0,0 +1,15 @@
+<?xml version="1.0" ?>
+<robot name="kuka_kr10_gazebo" xmlns:xacro="http://wiki.ros.org/xacro">
+  <!-- kr10 -->
+  <xacro:include filename="$(find kuka_kr10_gazebo)/urdf/kr10_macro.xacro"/>
+
+  <xacro:kuka_kr10_robot prefix=""/>
+
+  <!-- Fix robot to Gazebo world -->
+  <link name="world"/>
+  <joint name="world-base_link-fixed" type="fixed">
+    <parent link="world"/>
+    <child link="base_link"/>
+    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+  </joint>
+</robot>
diff --git a/kuka_kr10_gazebo/urdf/kr10_macro.xacro b/kuka_kr10_gazebo/urdf/kr10_macro.xacro
@@ -0,0 +1,111 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+<xacro:include filename="$(find kuka_kr10_support)/urdf/kr10r1100sixx_macro.xacro"/>
+<xacro:macro name="kuka_kr10_robot" params="prefix">
+
+  <!-- get URDF description of Kuka kr10 model -->
+  <xacro:kuka_kr10r1100sixx prefix="${prefix}" />
+
+  <!-- transmission list -->
+  <transmission name="${prefix}tran1">
+    <robotNamespace>/${prefix}</robotNamespace>
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="${prefix}joint_a1">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="${prefix}motor1">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="${prefix}tran2">
+    <robotNamespace>/${prefix}</robotNamespace>
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="${prefix}joint_a2">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="${prefix}motor2">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="${prefix}tran3">
+    <robotNamespace>/${prefix}</robotNamespace>
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="${prefix}joint_a3">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="${prefix}motor3">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="${prefix}tran4">
+    <robotNamespace>/${prefix}</robotNamespace>
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="${prefix}joint_a4">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="${prefix}motor4">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="${prefix}tran5">
+    <robotNamespace>/${prefix}</robotNamespace>
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="${prefix}joint_a5">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="${prefix}motor5">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <transmission name="${prefix}tran6">
+    <robotNamespace>/${prefix}</robotNamespace>
+    <type>transmission_interface/SimpleTransmission</type>
+    <joint name="${prefix}joint_a6">
+      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="${prefix}motor6">
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+  <!-- end of transmission list -->
+
+  <!-- Gazebo-specific link properties -->
+  <gazebo reference="${prefix}base_link">
+    <material>Gazebo/Black</material>
+    <turnGravityOff>true</turnGravityOff>
+  </gazebo>
+  <gazebo reference="${prefix}link_1">
+    <material>Gazebo/Orange</material>
+    <turnGravityOff>true</turnGravityOff>
+  </gazebo>
+  <gazebo reference="${prefix}link_2">
+    <material>Gazebo/Orange</material>
+    <turnGravityOff>true</turnGravityOff>
+  </gazebo>
+  <gazebo reference="${prefix}link_3">
+    <material>Gazebo/Orange</material>
+    <turnGravityOff>true</turnGravityOff>
+  </gazebo>
+  <gazebo reference="${prefix}link_4">
+    <material>Gazebo/Orange</material>
+    <turnGravityOff>true</turnGravityOff>
+  </gazebo>
+  <gazebo reference="${prefix}link_5">
+    <material>Gazebo/Orange</material>
+    <turnGravityOff>true</turnGravityOff>
+  </gazebo>
+  <gazebo reference="${prefix}link_6">
+    <material>Gazebo/Grey</material>
+    <turnGravityOff>true</turnGravityOff>
+  </gazebo>
+
+  <!-- ros_control plugin -->
+  <gazebo>
+    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+      <robotNamespace>/${prefix}</robotNamespace>
+      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
+    </plugin>
+  </gazebo>
+
+  </xacro:macro>
+</robot>
diff --git a/kuka_kr10_support/urdf/kr10r1100sixx.xacro b/kuka_kr10_support/urdf/kr10r1100sixx.xacro
@@ -1,4 +1,5 @@
 <?xml version="1.0"?>
+
 <robot name="kuka_kr10r1100sixx" xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:include filename="$(find kuka_kr10_support)/urdf/kr10r1100sixx_macro.xacro" />
   <xacro:kuka_kr10r1100sixx prefix=""/>