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Merged
merged 1 commit into from
Jul 8, 2015
Merged

Add kuka_kr16_support package #15

merged 1 commit into from
Jul 8, 2015

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@tingelst
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@tingelst tingelst commented Jun 9, 2015

Added support for the KUKA KR 16-2 manipulator.
kuka_kr16_support

@tingelst tingelst mentioned this pull request Jun 9, 2015
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gavanderhoorn
gavanderhoorn reviewed Jun 10, 2015
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kuka_kr16_support/CMakeLists.txt Outdated
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missing config dir.

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Thanks for the PR @tingelst. The collada meshes look good, although they won't look very nice in Hydro (but that is minor / irrelevant I believe). The black of the base is also really black (on my machine at least).

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@tingelst: I didn't notice you pushed more commits to this PR (github doesn't notify you when someone does apparently).

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tingelst commented Jul 3, 2015

Okay, no worries. Regarding the inertial tags, should I remove them in this PR. They are there just to keep Gazebo happy.

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Gazebo needs them or the urdf won't work in simulation. It would've been really nice if you could tack inertial tags on using a gazebo reference="..", but unfortunately that is not supported. With the pkg layout proposed in ros-industrial/abb_experimental#18, we've separated as much as is possible I think.

The only thing I don't like about keeping the inertial tags is that the values are non-verifiable / just plain incorrect. Personally I'd like to keep urdfs as close to the real hw are possible. Perhaps the best what we can do is to document the fact that those values are not true to the real hw (it should be obvious, but lets make it explicit).

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@tingelst: let's keep the interial tags, but add a comment to the package.xml that they are not based on any physical parameters of the robot and are just there for Gazebo compatibility (similar to the warning about the acceleration values in the Fanuc MoveIt cfgs (here)).

@tingelst
Started kuka_kr16_support package
11d8a06 
Added visual meshes

Add collision meshes

Add controller_joint_names and generate urdf

Small fixes
Added config to install dir
Made use_gui parameter private for the joint_state_publisher
Added <a href=""> tag to description in package.xml
Updated package.xml format from 1 to 2
Reindented kr16_2.xacro to use 2 spaces
Removed extra newlines in kr16_2_macro.xacro

Updated package.xml to include a paragraph regarding non-valid inertial
parameters in urdf model.
@tingelst tingelst force-pushed the add-kuka-kr16-support-pkg branch from 7137fcf to 11d8a06 Compare July 8, 2015 08:03
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tingelst commented Jul 8, 2015

@gavanderhoorn: package.xml is now updated. I have also squashed the commits.

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Nice one. I'll merge it.

Thanks for contributing again @tingelst!

gavanderhoorn added a commit that referenced this pull request Jul 8, 2015
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Merge pull request #15 from tingelst/add-kuka-kr16-support-pkg
a5a55ed 
Add kuka_kr16_support package
@gavanderhoorn gavanderhoorn merged commit a5a55ed into ros-industrial:hydro-devel Jul 8, 2015
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tingelst commented Jul 8, 2015

@gavanderhoorn: Great!

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@tingelst @gavanderhoorn