Add KR270 R2700

Use joint_state_publisher_gui

Author: Jan Krieglstein

kuka_kr270_support/CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(kuka_kr270_support)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+if (CATKIN_ENABLE_TESTING)
+  find_package(roslaunch REQUIRED)
+  roslaunch_add_file_check(test/roslaunch_test.xml)
+endif()
+
+install(DIRECTORY config launch meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

kuka_kr270_support/config/joint_names_kr270r2700.yaml

@@ -0,0 +1 @@
+controller_joint_names: ['joint_a1', 'joint_a2', 'joint_a3', 'joint_a4', 'joint_a5', 'joint_a6']

kuka_kr270_support/launch/load_kr270r2700.launch

@@ -0,0 +1,3 @@
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro '$(find kuka_kr270_support)/urdf/kr270r2700.xacro'" />
+</launch>

kuka_kr270_support/launch/test_kr270r2700.launch

@@ -0,0 +1,8 @@
+<launch>
+  <include file="$(find kuka_kr270_support)/launch/load_kr270r2700.launch" />
+  <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
+    <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>