Add support for KR60-HA

kuka_kr60_support/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+
+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()
+
+install(
+  DIRECTORY config launch meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

kuka_kr60_support/config/joint_names_kuka_kr60ha.yaml

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+controller_joint_names: ['joint_a1', 'joint_a2', 'joint_a3', 'joint_a4', 'joint_a5', 'joint_a6']

kuka_kr60_support/config/opw_parameters_kr60ha.yaml

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+#
+# 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:  0.350
+    a2:  -0.145
+    b:   0.000
+    c1:  0.815
+    c2:  0.850
+    c3:  0.820
+    c4:  0.170
+opw_kinematics_joint_offsets: [0.0, -1.57079632679, 0.0, 0.0, 0.0, 0.0]
+opw_kinematics_joint_sign_corrections: [-1, 1, 1, -1, 1, -1]
+

kuka_kr60_support/launch/load_kr60_ha.launch

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+<?xml version="1.0"?>
+<launch>
+  <!-- Load robot description to parameter server -->
+  <param name="robot_description" command="$(find xacro)/xacro '$(find kuka_kr60_support)/urdf/kr60ha.xacro'"/>
+</launch>

kuka_kr60_support/launch/test_kr60_ha.launch

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+<?xml version="1.0"?>
+<launch>
+  <include file="$(find kuka_kr60_support)/launch/load_kr60_ha.launch" />
+  <param name="use_gui" value="true" />
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>
+  <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_kr60_support/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>kuka_kr60_support</name>
+  <version>0.0.1</version>
+  <description>
+    <p>
+      ROS-Industrial support for the KUKA KR 60 (and variants).
+    </p>
+    <p>
+      This package contains configuration data, 3D models and launch files
+      for KUKA KR 60 manipulators. This currently includes the KR 60 HA only.
+    </p>
+    <p><b>Specifications</b>:</p>
+    <ul>
+      <li>KR 60 HA - Default</li>
+    </ul>
+    <p>
+      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.
+    </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
+      robot model and configuration you intend to use them with.
+    </p>
+  </description>
+  <author email="[email protected]">Simon Schmeisser (Optonic)</author>
+  <maintainer email="[email protected]">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/kuka_kr60_support</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>
+
+  <test_depend>roslaunch</test_depend>
+
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>rviz</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+  <export>
+    <architecture_independent/>
+  </export>
+</package>

kuka_kr60_support/test/roslaunch_test_kr60ha.xml

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+<launch>
+  <group ns="load_kr60_ha__">
+    <include file="$(find kuka_kr60_support)/launch/load_kr60_ha.launch"/>
+  </group>
+
+  <group ns="test_kr60_ha__">
+    <include file="$(find kuka_kr60_support)/launch/test_kr60_ha.launch"/>
+  </group>
+</launch>

kuka_kr60_support/urdf/kr60ha.xacro

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+<?xml version="1.0"?>
+<!--Generates a urdf from the macro in kr60ha_macro.xacro -->
+<robot name="kuka_kr60ha" xmlns:xacro="http://wiki.ros.org/xacro">
+    <xacro:include filename="$(find kuka_kr60_support)/urdf/kr60ha_macro.xacro" />
+    <xacro:kuka_kr60ha prefix=""/>
+</robot>

kuka_kr60_support/urdf/kr60ha_macro.xacro

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+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+
+  <xacro:macro name="kuka_kr60ha" params="prefix">
+    <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
+
+    <!-- LINKS -->
+    <!-- base link -->
+    <link name="${prefix}base_link">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr60_support/meshes/kr60ha/visual/base_link.stl" />
+        </geometry>
+	<xacro:material_kuka_black />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr60_support/meshes/kr60ha/collision/base_link.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <!-- link 1 (A1) -->
+    <link name="${prefix}link_1">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="2"/>
+        <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr60_support/meshes/kr60ha/visual/link_1.stl" />
+        </geometry>
+	<xacro:material_kuka_orange />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr60_support/meshes/kr60ha/collision/link_1.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <!-- link 2 -->
+    <link name="${prefix}link_2">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="2"/>
+        <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr60_support/meshes/kr60ha/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_kr60_support/meshes/kr60ha/collision/link_2.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <!-- link 3 -->
+    <link name="${prefix}link_3">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="2"/>
+        <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr60_support/meshes/kr60ha/visual/link_3.stl" />
+        </geometry>
+	<xacro:material_kuka_orange />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr60_support/meshes/kr60ha/collision/link_3.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <!-- link 4 -->
+    <link name="${prefix}link_4">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="2"/>
+        <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr60_support/meshes/kr60ha/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_kr60_support/meshes/kr60ha/collision/link_4.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <!-- link 5 -->
+    <link name="${prefix}link_5">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="2"/>
+        <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr60_support/meshes/kr60ha/visual/link_5.stl" />
+        </geometry>
+	<xacro:material_kuka_orange />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr60_support/meshes/kr60ha/collision/link_5.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <!-- link 6 -->
+    <link name="${prefix}link_6">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <mass value="2"/>
+        <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr60_support/meshes/kr60ha/visual/link_6.stl" />
+        </geometry>
+	<xacro:material_kuka_black />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr60_support/meshes/kr60ha/collision/link_6.stl" />
+        </geometry>
+      </collision>
+    </link>
+    <!-- END LINKS -->
+
+    <!-- JOINTS -->
+    <!-- joint 1 (A1) -->
+    <joint name="${prefix}joint_a1" type="revolute">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}base_link"/>
+      <child link="${prefix}link_1"/>
+      <axis xyz="0 0 -1"/>
+      <limit effort="0" lower="${-radians(185)}" upper="${radians(185)}" velocity="${radians(128)}"/>
+    </joint>
+    <!-- joint 2 (A2) -->
+    <joint name="${prefix}joint_a2" type="revolute">
+      <origin xyz="0.35 0 0.815" rpy="0 0 0"/>
+      <parent link="${prefix}link_1"/>
+      <child link="${prefix}link_2"/>
+      <axis xyz="0 1 0"/>
+      <limit effort="0" lower="${-radians(135)}" upper="${radians(35)}" velocity="${radians(102)}"/>
+    </joint>
+    <!-- joint 3 (A3) -->
+    <joint name="${prefix}joint_a3" type="revolute">
+      <origin xyz="0.85 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_2"/>
+      <child link="${prefix}link_3"/>
+      <axis xyz="0 1 0"/>
+      <limit effort="0" lower="${-radians(120)}" upper="${radians(158)}" velocity="${radians(128)}"/>
+    </joint>
+    <!-- joint 4 (A4) -->
+    <joint name="${prefix}joint_a4" type="revolute">
+      <origin xyz="0.465 0 0.145" rpy="0 0 0"/>
+      <parent link="${prefix}link_3"/>
+      <child link="${prefix}link_4"/>
+      <axis xyz="-1 0 0"/>
+      <limit effort="0" lower="${-radians(350)}" upper="${radians(350)}" velocity="${radians(260)}"/>
+    </joint>
+    <!-- joint 5 (A5) -->
+    <joint name="${prefix}joint_a5" type="revolute">
+      <origin xyz="0.355 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_4"/>
+      <child link="${prefix}link_5"/>
+      <axis xyz="0 1 0"/>
+      <limit effort="0" lower="${-radians(119)}" upper="${radians(119)}" velocity="${radians(245)}"/>
+    </joint>
+    <!-- joint 6 (A6) -->
+    <joint name="${prefix}joint_a6" type="revolute">
+      <origin xyz="0.17 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_5"/>
+      <child link="${prefix}link_6"/>
+      <axis xyz="-1 0 0"/> 
+      <limit effort="0" lower="${-radians(350)}" upper="${radians(350)}" velocity="${radians(322)}"/>
+    </joint>
+    <!-- tool frame - fixed frame -->
+    <joint name="${prefix}joint_6-tool0" type="fixed">
+      <parent link="${prefix}link_6"/>
+      <child link="${prefix}tool0"/>
+      <origin xyz="0 0 0" rpy="0 ${radians(90)} 0"/>
+    </joint>
+    <!-- END JOINTS -->
+
+    <!-- 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>
+
+