Add KR270 R2700

kuka_kr270_support/CMakeLists.txt

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+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_kr270r2700.xml)
+endif()
+
+install(DIRECTORY config launch meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

kuka_kr270_support/config/joint_names_kr270r2700.yaml

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

kuka_kr270_support/launch/load_kr270r2700.launch

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+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro '$(find kuka_kr270_support)/urdf/kr270r2700.xacro'" />
+</launch>

kuka_kr270_support/launch/test_kr270r2700.launch

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+<launch>
+  <include file="$(find kuka_kr270_support)/launch/load_kr270r2700.launch" />
+  <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
+  <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_kr270_support/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>kuka_kr270_support</name>
+  <version>0.1.0</version>
+  <description>
+    <p>
+      ROS-Industrial support for the KUKA KR 270 (and variants).
+    </p>
+    <p>
+      This package contains configuration data, 3D models and launch files
+      for KUKA KR 270 manipulators. This currently includes the R2700 only.
+    </p>
+    <p><b>Specifications</b>:</p>
+    <ul>
+      <li>KR 270 R 2700 - Default</li>
+    </ul>
+    <p>
+      Joint limits and maximum joint velocities are based on the information
+      found in <em>KUKA KR 270 R2700 ultra </em>, version <em>version 0000-181-028 / V46.1 / 07.01.2021</em>.
+      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>Jan Krieglstein (Fraunhofer IPA)</author>
+  <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
+  <license>BSD-3-Clause</license>
+
+  <url type="website">http://wiki.ros.org/kuka_kr270_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>industrial_robot_client</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+  <export>
+    <architecture_independent/>
+  </export>
+</package>

kuka_kr270_support/test/roslaunch_test_kr270r2700.xml

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+<launch>
+  <group ns="load_kr270r2700__">
+    <include file="$(find kuka_kr270_support)/launch/load_kr270r2700.launch"/>
+  </group>
+
+  <group ns="test_kr270r2700__">
+    <include file="$(find kuka_kr270_support)/launch/test_kr270r2700.launch"/>
+  </group>
+</launch>

kuka_kr270_support/urdf/kr270r2700.xacro

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+<?xml version="1.0" ?>
+<robot name="kuka_kr270" xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:include filename="$(find kuka_kr270_support)/urdf/kr270r2700_macro.xacro"/>
+  <xacro:kuka_kr270r2700 prefix=""/>
+</robot>

kuka_kr270_support/urdf/kr270r2700_macro.xacro

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+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+
+  <xacro:macro name="kuka_kr270r2700" params="prefix">
+    <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
+    <!-- links -->
+    <link name="${prefix}base_link">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr270_support/meshes/kr270r2700/visual/base_link.dae"/>
+        </geometry>
+        <xacro:material_kuka_black />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr270_support/meshes/kr270r2700/collision/base_link.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_1">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr270_support/meshes/kr270r2700/visual/link_1.dae"/>
+        </geometry>
+        <xacro:material_kuka_orange />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr270_support/meshes/kr270r2700/collision/link_1.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_2">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr270_support/meshes/kr270r2700/visual/link_2.dae"/>
+        </geometry>
+        <xacro:material_kuka_orange />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr270_support/meshes/kr270r2700/collision/link_2.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_3">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr270_support/meshes/kr270r2700/visual/link_3.dae"/>
+        </geometry>
+        <xacro:material_kuka_orange />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr270_support/meshes/kr270r2700/collision/link_3.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_4">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr270_support/meshes/kr270r2700/visual/link_4.dae"/>
+        </geometry>
+        <xacro:material_kuka_orange />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr270_support/meshes/kr270r2700/collision/link_4.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_5">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr270_support/meshes/kr270r2700/visual/link_5.dae"/>
+        </geometry>
+        <xacro:material_kuka_orange />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr270_support/meshes/kr270r2700/collision/link_5.stl"/>
+        </geometry>
+      </collision>
+    </link>
+    <link name="${prefix}link_6">
+      <visual>
+        <origin xyz="0 0 0 " rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr270_support/meshes/kr270r2700/visual/link_6.dae"/>
+        </geometry>
+        <xacro:material_kuka_black />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://kuka_kr270_support/meshes/kr270r2700/collision/link_6.stl"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <!-- joints -->
+    <joint name="${prefix}joint_a1" type="revolute">
+      <origin xyz="0 0 0.675" rpy="0 0 0"/>
+      <parent link="${prefix}base_link"/>
+      <child link="${prefix}link_1"/>
+      <axis xyz="0 0 -1"/>
+      <limit lower="${radians(-185)}" upper="${radians(185)}" effort="0" velocity="${radians(105)}"/>
+    </joint>
+    <joint name="${prefix}joint_a2" type="revolute">
+      <origin xyz="0.350 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_1"/>
+      <child link="${prefix}link_2"/>
+      <axis xyz="0 1 0"/>
+      <limit lower="${radians(-140)}" upper="${radians(-5)}" effort="0" velocity="${radians(101)}"/>
+    </joint>
+    <joint name="${prefix}joint_a3" type="revolute">
+      <origin xyz="1.150 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_2"/>
+      <child link="${prefix}link_3"/>
+      <axis xyz="0 1 0"/>
+      <limit lower="${radians(-120)}" upper="${radians(155)}" effort="0" velocity="${radians(107)}"/>
+    </joint>
+    <joint name="${prefix}joint_a4" type="revolute">
+      <origin xyz="1.200 0 -0.041" rpy="0 0 0"/>
+      <parent link="${prefix}link_3"/>
+      <child link="${prefix}link_4"/>
+      <axis xyz="-1 0 0"/>
+      <limit lower="${radians(-350)}" upper="${radians(350)}" effort="0" velocity="${radians(122)}"/>
+    </joint>
+    <joint name="${prefix}joint_a5" type="revolute">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_4"/>
+      <child link="${prefix}link_5"/>
+      <axis xyz="0 1 0"/>
+      <limit lower="${radians(-122.5)}" upper="${radians(122.5)}" effort="0" velocity="${radians(113)}"/>
+    </joint>
+    <joint name="${prefix}joint_a6" type="revolute">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_5"/>
+      <child link="${prefix}link_6"/>
+      <axis xyz="-1 0 0"/>
+      <limit lower="${radians(-350)}" upper="${radians(350)}" effort="0" velocity="${radians(175)}"/>
+    </joint>
+
+    <!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
+    <link name="${prefix}flange"/>
+    <joint name="${prefix}link_6-flange" type="fixed">
+      <parent link="${prefix}link_6"/>
+      <child link="${prefix}flange"/>
+      <origin xyz="0.240 0 0" rpy="0 0 0"/>
+    </joint>
+
+    <!-- ROS 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 '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>