Add support for Kuka KR60-HA

Author: simonschmeisser

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()

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="$(find xacro)/xacro.py '$(find kuka_kr60_support)/urdf/kr60_ha.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>