From b0d19ecd9a2879a3c8ff72ebb61aec98006c46c2 Mon Sep 17 00:00:00 2001 From: Ivar Eriksen Date: Tue, 18 Oct 2016 14:49:55 +0200 Subject: [PATCH 01/56] First draft of readme --- kuka_rsi_hw_interface/krl/KR_C2/README.md | 116 ++++++++++++++++++++++ 1 file changed, 116 insertions(+) create mode 100644 kuka_rsi_hw_interface/krl/KR_C2/README.md diff --git a/kuka_rsi_hw_interface/krl/KR_C2/README.md b/kuka_rsi_hw_interface/krl/KR_C2/README.md new file mode 100644 index 000000000..e16b2b990 --- /dev/null +++ b/kuka_rsi_hw_interface/krl/KR_C2/README.md @@ -0,0 +1,116 @@ +# Configuring RSI on the controller + +This guide highlights the steps needed in order to successfully configure the **RSI interface** on the KR-C2 controller to work with the **kuka_rsi_hardware_interface** on your PC with ROS. + +## 1. Controller network configuration + +Controller setup is described in chapter 4 of the **KUKA.Ethernet RSI XML 1.1** manual. +Make sure the not to use the `192.0.1.x` IP range for the controller or PC. + +From the Ethernet RSI XML manual: + +> The IP address range 192.0.1.x is reserved and is disabled for applications. +> Configuring the VxWorks network connection with this address range results +> in a system error in the KUKA system software. It is no longer possible to +> boot the robot controller. + +Ping the controller from the PC with ROS to make sure the network configuration is working. + + +## 2. KRL Files + +The files included in this folder specifies the data transferred via RSI. Some of the files needs to be modified to work for your specific configuration. + +##### ros_rsi_ethernet.xml + +1. Edit the `IP_NUMBER` tag so that it corresponds to the IP address (192.168.1.xx) previously added for your PC. +2. Keep the `PORT` tag as it is (49152) or change it if you want to use another port. + +Note that the `rsi/listen_address` and `rsi/listen_port` parameters of the `kuka_rsi_hw_interface` must correspond to the `IP_NUMBER`and `PORT` set in these KRL files. + + +##### ros_rsi.src +This should only be edited if the start position specified within the file is not desirable for your application. + + +##### Copy files to controller + +1. Copy the `ros_rsi.src` file to `KRC:\R1\Program`. +2. Copy the `ros_rsi_ethernet.xml` file to `C:\KRC\ROBOTER\Init`. + +## 3. Configure the kuka_rsi_hw_interface + +The **kuka_rsi_hardware_interface** needs to be configured in order to successfully communicate with RSI. Inside `/kuka_rsi_hw_interface/test` and `/kuka_rsi_hw_interface/config` in this repository is a set of `*.yaml` files. These configuration files may be loaded into a launch-file used to start the **kuka_rsi_hardware_interface** with correct parameters, such as: + +* **Joint names** corresponding to the robot description (URDF or .xacro). +* **IP address** and **port** corresponding to the RSI setup specified in **ros_rsi_ethernet.xml**. + +We recommend that you copy the configuration files, edit the copies for your needs and use these files to create your own launch file. A template will be provided at a later time. However, at this time, have a look at `test_hardware_interface.launch`, `test_params.yaml`, `controller_joint_names.yaml` and `hardware_controllers.yaml` to achieve a working test-launch. + +In order to successfully launch the **kuka_rsi_hardware_interface** a parameter `robot_description` needs to be present on the ROS parameter server. This parameter can be set manually or by adding this line inside the launch file (replace support package and .xacro to match your application): + +``` + +``` + +Make sure that the line is added before the `kuka_hardware_interface` itself is loaded. + +## 4. Testing + +At this point you are ready to test the RSI interface. Before the test, make sure that: + +* You have specified the `rsi/listen_address` and `rsi/listen_port` of the **kuka_rsi_hardware_interface** to correspond with the KRL files on the controller. +* You have a launch-file loading the network parameters, robot description, kuka_hardware_interface, hardware controller and controller joint names. + +The next steps describe how to launch the test file: + +* In a new terminal: + +``` +$ roscore +``` + +* Open a new terminal and roslaunch the previously configured launch-file: + +``` +$ roslaunch kuka_rsi_hw_interface test_hardware_interface.launch sim:=false +``` + +The **kuka_rsi_hardware_interface** is now waiting for the robot controller to connect. Follow the next steps to connect RSI: + +1. On the teach pad, enter mode **T1** for testing purposes. +2. Navigate to `KRC:\R1\Program` and select `ros_rsi.src`. +3. Press and hold an enabling switch and the run/play-button. The robot will first move to the start position. + * A message like **Programmed path reached (BCO)** will be shown at the teach pad. +4. Press and hold again. The teach pad will post a warning **!!!Attention –RSI sensor mode active!!!**. +5. Confirm the warning and press and hold the buttons again. This time the terminal where **kuka_rsi_hardware_interface** is running should output **Got connection from robot**. The RSI connection is now up and running. +6. In a new terminal: + +``` +$ rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller +``` + +Choose **controller manager ns** and **controller** and you should be able to move each robot joint. + +* Note that T1-mode limits the robot movement velocity and is intended for testing purposes. + +## 4. Troubleshooting + +### + + +### Late packages + +From the Ethernet RSI XML manual: + +> A data packet received by the external system must be answered within approx. +> 10 ms. If the data packet is not received by the robot controller within this +> period, the response is classified as too late. When the maximum number of +> external data packets for which a response has been sent too late has been +> exceeded, the robot interprets this as an error and stops + +If you have problems with the connection to RSI shutting down now and then while moving the robot it is suggested to: +* Compile and install a [RT-Preempt](https://rt.wiki.kernel.org/index.php/RT_PREEMPT_HOWTO) kernel for your PC. +* Give **kuka_rsi_hardware_interface** on your PC real-time priority when the RSI connection is established. + + From f7ed9e2bb5326384547c50d2f31479b0cd902a1e Mon Sep 17 00:00:00 2001 From: Ivar Eriksen Date: Tue, 18 Oct 2016 14:50:11 +0200 Subject: [PATCH 02/56] Drop first package recieved from robot --- kuka_rsi_hw_interface/src/kuka_hardware_interface.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/kuka_rsi_hw_interface/src/kuka_hardware_interface.cpp b/kuka_rsi_hw_interface/src/kuka_hardware_interface.cpp index a326bb141..ef5ee4d6d 100644 --- a/kuka_rsi_hw_interface/src/kuka_hardware_interface.cpp +++ b/kuka_rsi_hw_interface/src/kuka_hardware_interface.cpp @@ -137,6 +137,9 @@ void KukaHardwareInterface::start() int bytes = server_->recv(in_buffer_); + // rsi 2.3: First pacakge only contains and elements, discard it + bytes = server_->recv(in_buffer_); + rsi_state_ = RSIState(in_buffer_); for (std::size_t i = 0; i < n_dof_; ++i) { From 726020649a67a2013aef224f6c8bfbe504c5d047 Mon Sep 17 00:00:00 2001 From: Ivar Eriksen Date: Wed, 19 Oct 2016 00:23:03 +0200 Subject: [PATCH 03/56] Tested and working --- kuka_rsi_hw_interface/krl/KR_C2/README.md | 18 +-- kuka_rsi_hw_interface/krl/KR_C2/ros_rsi.src | 103 ++++++++++++++++++ .../krl/KR_C2/ros_rsi_ethernet.xml | 33 ++++++ 3 files changed, 147 insertions(+), 7 deletions(-) create mode 100644 kuka_rsi_hw_interface/krl/KR_C2/ros_rsi.src create mode 100644 kuka_rsi_hw_interface/krl/KR_C2/ros_rsi_ethernet.xml diff --git a/kuka_rsi_hw_interface/krl/KR_C2/README.md b/kuka_rsi_hw_interface/krl/KR_C2/README.md index e16b2b990..58b421e2a 100644 --- a/kuka_rsi_hw_interface/krl/KR_C2/README.md +++ b/kuka_rsi_hw_interface/krl/KR_C2/README.md @@ -5,8 +5,10 @@ This guide highlights the steps needed in order to successfully configure the ** ## 1. Controller network configuration Controller setup is described in chapter 4 of the **KUKA.Ethernet RSI XML 1.1** manual. -Make sure the not to use the `192.0.1.x` IP range for the controller or PC. +Both **EthernetRSIXML** and **RSI** packages must be installed. This can be verified in the *InstallTech* window (`Setup->9 Install additional Software` on the KCP) + +Make sure the not to use the `192.0.1.x` IP range for the controller or PC. From the Ethernet RSI XML manual: > The IP address range 192.0.1.x is reserved and is disabled for applications. @@ -30,13 +32,13 @@ Note that the `rsi/listen_address` and `rsi/listen_port` parameters of the `kuka ##### ros_rsi.src -This should only be edited if the start position specified within the file is not desirable for your application. +This should only be edited if the start position or max joint movements specified within the file is not desirable for your application. These variables are inside the Configuration fold. ##### Copy files to controller -1. Copy the `ros_rsi.src` file to `KRC:\R1\Program`. -2. Copy the `ros_rsi_ethernet.xml` file to `C:\KRC\ROBOTER\Init`. +1. Copy the `ros_rsi.src` file to `KRC:\R1\Program` (Alternatively `C:\KRC\ROBOTER\KRC\R1\Program`) +2. Copy the `ros_rsi_ethernet.xml` file to `C:\KRC\ROBOTER\Init` ## 3. Configure the kuka_rsi_hw_interface @@ -96,12 +98,14 @@ Choose **controller manager ns** and **controller** and you should be able to mo ## 4. Troubleshooting -### +### RSI: Error in function +Problems establishing connection between robot or PC. Check IP, port and that the **kuka_rsi_hardware_interface** is running on the PC. May also come from malformed XML in ros_rsi_ethernet.xml -### Late packages + +### SEN: RSI execution error - RSI stopped -From the Ethernet RSI XML manual: +Most likely due to late packages. From the Ethernet RSI XML manual: > A data packet received by the external system must be answered within approx. > 10 ms. If the data packet is not received by the robot controller within this diff --git a/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi.src b/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi.src new file mode 100644 index 000000000..39f7ca170 --- /dev/null +++ b/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi.src @@ -0,0 +1,103 @@ +&ACCESS RVP +&REL 54 +&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe +&PARAM EDITMASK = * +DEF ros_rsi( ) + + +; FOLD VAR DECLARATION + CHAR configFileName[21] ;ST_ETHERNET object configuration file + DECL RSIERR err ;Error value from RSI commands + REAL lowerBound, upperBound ;Bounds for motion control + INT i ;Counter variable used in for-loops + DECL AXIS HOME ; HOME position + INT containerID, hEthernet, hAxis, numAxes ;Container IDs +; ENDFOLD VAR DECLARATION + +;FOLD INI + ;FOLD BASISTECH INI + GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( ) + INTERRUPT ON 3 + BAS (#INITMOV,0 ) + ;ENDFOLD (BASISTECH INI) + ;FOLD USER INI + ;Make your modifications here + + ;ENDFOLD (USER INI) +;ENDFOLD (INI) + +;FOLD Configuration + numAxes = 6 ; Number of axes on robot + HOME = {AXIS: A1 90, A2 -90, A3 90, A4 0, A5 0, A6 0} ; Start position + configFileName[] = "ros_rsi_ethernet.xml" ; Name of XML file. Should be in c:/krc/roboter/init + lowerBound = -100 ; lower limit axis correction + upperBound = 100 ; upper limit axis correction +;ENDFOLD Configuration + + +; Move to start position +PTP $AXIS_ACT ; Be able to use PTP without all axes in HOME +PTP HOME + +; Create RSI Ethernet object +containerID = 0 +err = ST_ETHERNET(hEthernet,containerID,configFileName[]) +IF (err <> #RSIOK) THEN + HALT +ENDIF + +; Object for axis correction. +err = ST_AXISCORR(hAxis, containerID) +IF (err <> #RSIOK) THEN + HALT +ENDIF + +; Link axis correction objects from XML file +for i=1 TO numAxes + err = ST_NEWLINK(hEthernet,i,hAxis,i) + IF err<>#RSIOK THEN + HALT + ENDIF +ENDFOR + +; Set integration mode (0 absolute, 1 relative) +err = ST_SETPARAM(hAxis,1,0) +IF err<>#RSIOK THEN + HALT +ENDIF + +; Set lowerBound axis correction +for i=2 TO numAxes+1 + err = ST_SETPARAM(hAxis,i,lowerBound); + IF err<>#RSIOK THEN + HALT + ENDIF +ENDFOR + +; Set upperBound axis correction +for i=14 TO numAxes+13 + err = ST_SETPARAM(hAxis,i,upperBound); + IF err<>#RSIOK THEN + HALT + ENDIF +ENDFOR + +; Start RSI execution +err = ST_ON() +IF (err <> #RSIOK) THEN + HALT +ENDIF + +; Runs untill RSI break +ST_SKIPSENS() + +; Turn off RSI +err = ST_OFF() +IF (err <> #RSIOK) THEN + HALT +ENDIF + +; Go back to home position +; PTP HOME + +END diff --git a/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi_ethernet.xml b/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi_ethernet.xml new file mode 100644 index 000000000..aecaee904 --- /dev/null +++ b/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi_ethernet.xml @@ -0,0 +1,33 @@ + + + 10.0.0.200 + 49152 + UDP + ImFree + FALSE + + + + + + + + + + + + + + + + + + + + + + + + + + From d222b3307906ff46fd90bcc44ac9cd5c44254351 Mon Sep 17 00:00:00 2001 From: Ivar Eriksen Date: Wed, 19 Oct 2016 08:27:17 +0200 Subject: [PATCH 04/56] RSI 2.3: First frame is empty frame, drop it --- kuka_rsi_hw_interface/src/kuka_hardware_interface.cpp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/kuka_rsi_hw_interface/src/kuka_hardware_interface.cpp b/kuka_rsi_hw_interface/src/kuka_hardware_interface.cpp index ef5ee4d6d..e62ddec13 100644 --- a/kuka_rsi_hw_interface/src/kuka_hardware_interface.cpp +++ b/kuka_rsi_hw_interface/src/kuka_hardware_interface.cpp @@ -137,8 +137,11 @@ void KukaHardwareInterface::start() int bytes = server_->recv(in_buffer_); - // rsi 2.3: First pacakge only contains and elements, discard it - bytes = server_->recv(in_buffer_); + // Drop empty frame with RSI <= 2.3 + if (bytes < 100) + { + bytes = server_->recv(in_buffer_); + } rsi_state_ = RSIState(in_buffer_); for (std::size_t i = 0; i < n_dof_; ++i) From 51a33ebf5529a4850e2651c900e363a58347042f Mon Sep 17 00:00:00 2001 From: Ivar Eriksen Date: Wed, 19 Oct 2016 14:05:02 +0200 Subject: [PATCH 05/56] Set individual axis limits --- kuka_rsi_hw_interface/krl/KR_C2/ros_rsi.src | 39 ++++++++++++++++++--- 1 file changed, 34 insertions(+), 5 deletions(-) diff --git a/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi.src b/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi.src index 39f7ca170..5b5e8416e 100644 --- a/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi.src +++ b/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi.src @@ -8,7 +8,7 @@ DEF ros_rsi( ) ; FOLD VAR DECLARATION CHAR configFileName[21] ;ST_ETHERNET object configuration file DECL RSIERR err ;Error value from RSI commands - REAL lowerBound, upperBound ;Bounds for motion control + REAL lowerBound[12], upperBound[12] ;Bounds for motion control INT i ;Counter variable used in for-loops DECL AXIS HOME ; HOME position INT containerID, hEthernet, hAxis, numAxes ;Container IDs @@ -30,8 +30,37 @@ DEF ros_rsi( ) numAxes = 6 ; Number of axes on robot HOME = {AXIS: A1 90, A2 -90, A3 90, A4 0, A5 0, A6 0} ; Start position configFileName[] = "ros_rsi_ethernet.xml" ; Name of XML file. Should be in c:/krc/roboter/init - lowerBound = -100 ; lower limit axis correction - upperBound = 100 ; upper limit axis correction + + ; Internal axes + lowerBound[1] = -100 ; lower limit A1 axis correction + upperBound[1] = 100 ; upper limit A1 axis correction + lowerBound[2] = -100 ; lower limit A2 axis correction + upperBound[2] = 100 ; upper limit A2 axis correction + lowerBound[3] = -100 ; lower limit A3 axis correction + upperBound[3] = 100 ; upper limit A3 axis correction + lowerBound[4] = -100 ; lower limit A4 axis correction + upperBound[4] = 100 ; upper limit A4 axis correction + lowerBound[5] = -100 ; lower limit A5 axis correction + upperBound[5] = 100 ; upper limit A5 axis correction + lowerBound[6] = -100 ; lower limit A6 axis correction + upperBound[6] = 100 ; upper limit A6 axis correction + + ; External axes + lowerBound[7] = -100 ; lower limit E1 axis correction + upperBound[7] = 100 ; upper limit E1 axis correction + lowerBound[8] = -100 ; lower limit E2 axis correction + upperBound[8] = 100 ; upper limit E2 axis correction + lowerBound[9] = -100 ; lower limit E3 axis correction + upperBound[9] = 100 ; upper limit E3 axis correction + lowerBound[10] = -100 ; lower limit E4 axis correction + upperBound[10] = 100 ; upper limit E4 axis correction + lowerBound[11] = -100 ; lower limit E5 axis correction + upperBound[11] = 100 ; upper limit E5 axis correction + lowerBound[12] = -100 ; lower limit E6 axis correction + upperBound[12] = 100 ; upper limit E6 axis correction + + + ;ENDFOLD Configuration @@ -68,7 +97,7 @@ ENDIF ; Set lowerBound axis correction for i=2 TO numAxes+1 - err = ST_SETPARAM(hAxis,i,lowerBound); + err = ST_SETPARAM(hAxis,i,lowerBound[i-1]); IF err<>#RSIOK THEN HALT ENDIF @@ -76,7 +105,7 @@ ENDFOR ; Set upperBound axis correction for i=14 TO numAxes+13 - err = ST_SETPARAM(hAxis,i,upperBound); + err = ST_SETPARAM(hAxis,i,upperBound[i-13]); IF err<>#RSIOK THEN HALT ENDIF From 4096a85b13b8554275d0b5114cedcdf270b9e274 Mon Sep 17 00:00:00 2001 From: Ivar Eriksen Date: Thu, 20 Oct 2016 15:48:52 +0200 Subject: [PATCH 06/56] Removed external axes from XML file --- kuka_rsi_hw_interface/krl/KR_C2/ros_rsi_ethernet.xml | 5 ----- 1 file changed, 5 deletions(-) diff --git a/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi_ethernet.xml b/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi_ethernet.xml index aecaee904..c7629cef1 100644 --- a/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi_ethernet.xml +++ b/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi_ethernet.xml @@ -12,8 +12,6 @@ - - @@ -25,9 +23,6 @@ - - - From 387118e407c6fab6dabf12e870b809b0394cdfdf Mon Sep 17 00:00:00 2001 From: Ivar Eriksen Date: Fri, 21 Oct 2016 13:07:13 +0200 Subject: [PATCH 07/56] Fixed info about RSI.XML package --- kuka_rsi_hw_interface/krl/KR_C2/README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/kuka_rsi_hw_interface/krl/KR_C2/README.md b/kuka_rsi_hw_interface/krl/KR_C2/README.md index 58b421e2a..73364f49e 100644 --- a/kuka_rsi_hw_interface/krl/KR_C2/README.md +++ b/kuka_rsi_hw_interface/krl/KR_C2/README.md @@ -5,10 +5,10 @@ This guide highlights the steps needed in order to successfully configure the ** ## 1. Controller network configuration Controller setup is described in chapter 4 of the **KUKA.Ethernet RSI XML 1.1** manual. - -Both **EthernetRSIXML** and **RSI** packages must be installed. This can be verified in the *InstallTech* window (`Setup->9 Install additional Software` on the KCP) +**KUKA.RobotSensorInterface** package must be installed. Depending on the version of the **KUKA.RobotSensorInterface** package you might also need the **KUKA.Ethernet RSI XML**. This can be verified in the *InstallTech* window (`Setup -> 9 Install additional Software` on the KCP) Make sure the not to use the `192.0.1.x` IP range for the controller or PC. + From the Ethernet RSI XML manual: > The IP address range 192.0.1.x is reserved and is disabled for applications. @@ -96,7 +96,7 @@ Choose **controller manager ns** and **controller** and you should be able to mo * Note that T1-mode limits the robot movement velocity and is intended for testing purposes. -## 4. Troubleshooting +## 5. Troubleshooting ### RSI: Error in function From 6ea1cac128b95bfa56ed33accaa4da5e05041ee1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Denis=20=C5=A0togl?= Date: Tue, 21 Mar 2017 18:12:18 +0100 Subject: [PATCH 08/56] Added support for kr5 --- kuka_kr5_support/CMakeLists.txt | 15 + kuka_kr5_support/config/joint_names_kr5.yaml | 1 + kuka_kr5_support/launch/load_kr5_arc.launch | 5 + kuka_kr5_support/launch/test_kr5_arc.launch | 9 + .../meshes/kr5_arc/collision/base_link.stl | Bin 0 -> 949184 bytes .../meshes/kr5_arc/collision/link_1.stl | Bin 0 -> 2570984 bytes .../meshes/kr5_arc/collision/link_2.stl | Bin 0 -> 1147784 bytes .../meshes/kr5_arc/collision/link_3.stl | Bin 0 -> 1160384 bytes .../meshes/kr5_arc/collision/link_4.stl | Bin 0 -> 222684 bytes .../meshes/kr5_arc/collision/link_5.stl | Bin 0 -> 170984 bytes .../meshes/kr5_arc/collision/link_6.stl | Bin 0 -> 54684 bytes .../meshes/kr5_arc/visual/base_link.dae | 358 ++++++++++ .../meshes/kr5_arc/visual/link_1.dae | 610 ++++++++++++++++++ .../meshes/kr5_arc/visual/link_2.dae | 526 +++++++++++++++ .../meshes/kr5_arc/visual/link_3.dae | 358 ++++++++++ .../meshes/kr5_arc/visual/link_4.dae | 190 ++++++ .../meshes/kr5_arc/visual/link_5.dae | 106 +++ .../meshes/kr5_arc/visual/link_6.dae | 106 +++ kuka_kr5_support/package.xml | 53 ++ kuka_kr5_support/test/roslaunch_test.xml | 9 + kuka_kr5_support/urdf/kr5_arc.xacro | 13 + kuka_kr5_support/urdf/kr5_arc_macro.xacro | 317 +++++++++ 22 files changed, 2676 insertions(+) create mode 100644 kuka_kr5_support/CMakeLists.txt create mode 100644 kuka_kr5_support/config/joint_names_kr5.yaml create mode 100644 kuka_kr5_support/launch/load_kr5_arc.launch create mode 100644 kuka_kr5_support/launch/test_kr5_arc.launch create mode 100644 kuka_kr5_support/meshes/kr5_arc/collision/base_link.stl create mode 100644 kuka_kr5_support/meshes/kr5_arc/collision/link_1.stl create mode 100644 kuka_kr5_support/meshes/kr5_arc/collision/link_2.stl create mode 100644 kuka_kr5_support/meshes/kr5_arc/collision/link_3.stl create mode 100644 kuka_kr5_support/meshes/kr5_arc/collision/link_4.stl create mode 100644 kuka_kr5_support/meshes/kr5_arc/collision/link_5.stl create mode 100644 kuka_kr5_support/meshes/kr5_arc/collision/link_6.stl create mode 100644 kuka_kr5_support/meshes/kr5_arc/visual/base_link.dae create mode 100644 kuka_kr5_support/meshes/kr5_arc/visual/link_1.dae create mode 100644 kuka_kr5_support/meshes/kr5_arc/visual/link_2.dae create mode 100644 kuka_kr5_support/meshes/kr5_arc/visual/link_3.dae create mode 100644 kuka_kr5_support/meshes/kr5_arc/visual/link_4.dae create mode 100644 kuka_kr5_support/meshes/kr5_arc/visual/link_5.dae create mode 100644 kuka_kr5_support/meshes/kr5_arc/visual/link_6.dae create mode 100644 kuka_kr5_support/package.xml create mode 100644 kuka_kr5_support/test/roslaunch_test.xml create mode 100644 kuka_kr5_support/urdf/kr5_arc.xacro create mode 100644 kuka_kr5_support/urdf/kr5_arc_macro.xacro diff --git a/kuka_kr5_support/CMakeLists.txt b/kuka_kr5_support/CMakeLists.txt new file mode 100644 index 000000000..69dd5788f --- /dev/null +++ b/kuka_kr5_support/CMakeLists.txt @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 2.8.3) + +project(kuka_kr5_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}) diff --git a/kuka_kr5_support/config/joint_names_kr5.yaml b/kuka_kr5_support/config/joint_names_kr5.yaml new file mode 100644 index 000000000..1a23ced85 --- /dev/null +++ b/kuka_kr5_support/config/joint_names_kr5.yaml @@ -0,0 +1 @@ +controller_joint_names: ['joint_a1', 'joint_a2', 'joint_a3', 'joint_a4', 'joint_a5', 'joint_a6'] diff --git a/kuka_kr5_support/launch/load_kr5_arc.launch b/kuka_kr5_support/launch/load_kr5_arc.launch new file mode 100644 index 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+ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/kuka_kr5_support/package.xml b/kuka_kr5_support/package.xml new file mode 100644 index 000000000..4711712be --- /dev/null +++ b/kuka_kr5_support/package.xml @@ -0,0 +1,53 @@ + + + kuka_kr5_support + 0.1.0 + +

+ ROS-Industrial support for the KUKA KR16 (and variants). +

+

+ This package contains configuration data, 3D models and launch files + for KUKA KR 16 manipulators. This currently includes the KR 16-2 only. +

+

Specifications:

+
    +
  • KR 16-2 - Default
    • +
+

+ Joint limits and maximum joint velocities are based on the information + found in the online datasheet here. All urdfs are based on the default motion and joint velocity limits, + unless noted otherwise. +

+

+ 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. +

+

+ NB: this package currently uses non-valid inertia parameters. +

+ + Lars Tingelstad + Lars Tingelstad + G.A. vd. Hoorn (TU Delft Robotics Institute) + BSD + + http://ros.org/wiki/kuka_kr16_support + https://github.com/ros-industrial/kuka_experimental/issues + https://github.com/ros-industrial/kuka_experimental + + catkin + + roslaunch + + industrial_robot_client + joint_state_publisher + robot_state_publisher + rviz + xacro + + + + + diff --git a/kuka_kr5_support/test/roslaunch_test.xml b/kuka_kr5_support/test/roslaunch_test.xml new file mode 100644 index 000000000..d10e61143 --- /dev/null +++ b/kuka_kr5_support/test/roslaunch_test.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/kuka_kr5_support/urdf/kr5_arc.xacro b/kuka_kr5_support/urdf/kr5_arc.xacro new file mode 100644 index 000000000..67ec1d654 --- /dev/null +++ b/kuka_kr5_support/urdf/kr5_arc.xacro @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/kuka_kr5_support/urdf/kr5_arc_macro.xacro b/kuka_kr5_support/urdf/kr5_arc_macro.xacro new file mode 100644 index 000000000..215b9838b --- /dev/null +++ b/kuka_kr5_support/urdf/kr5_arc_macro.xacro @@ -0,0 +1,317 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 222c8c81c0b541abb2bf9ebbca6010bf673274f8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Denis=20=C5=A0togl?= Date: Fri, 24 Mar 2017 11:00:38 +0100 Subject: [PATCH 09/56] Added KR5 Podest --- .../meshes/kr5_arc/collision/podest_link.stl | Bin 0 -> 54084 bytes .../meshes/kr5_arc/visual/podest_link.dae | 106 ++++++++++++++++++ kuka_kr5_support/urdf/kr5_arc_macro.xacro | 24 ++-- 3 files changed, 117 insertions(+), 13 deletions(-) create mode 100644 kuka_kr5_support/meshes/kr5_arc/collision/podest_link.stl create mode 100644 kuka_kr5_support/meshes/kr5_arc/visual/podest_link.dae diff --git a/kuka_kr5_support/meshes/kr5_arc/collision/podest_link.stl b/kuka_kr5_support/meshes/kr5_arc/collision/podest_link.stl new file mode 100644 index 0000000000000000000000000000000000000000..86fb222c8f24c27d0a2d252291e4bcc29079a74c GIT binary patch literal 54084 zcmb__3D9k2b>$HeeJYAU;dL}>S(QOi2@#Ca_%8ex9NKaKHSO49BSwj7nT+xfxriyc z93T#@K0HV(z~F7MtJXbljD@U;B}heQQ!8smgSvG-ng-Sw^S4F7#r^j zr2O6S+t)VVwFz?V)eZX}uy)3Yzco&+lV1Chwa0(;KR~|rgKt^;@-vp*duD$P`2g8>0bvP79GG}Xg^|!Y?WW3*pp91-tFFIm;uWjc*uD$a7 zob`=^=1ub@Xnp2I_nptLI=ctqc27U*!Q+z;{F4LbnWxNG=CI~)e?3~U)$^DKkmt{XY?Q6bf59b=l?hO9wQOPmTrHzUC-z+hkNB(<6rJEe)lbphPUWE z#o>MH9u9luS@ixmdhZ|3F1>Wt(;u#tUZgh}?J&aq^*CO8>F3sd{+`=r@PjL?hus^;)G-1jSQ-E(}uul#mTe|X-V zZlW0jPpGR&xz;ijF)|J z?biKn?dfyxgXcf%?zP7~@KQt@BPvF`?iJ+`dgOb(^`Z0lU-3%Uhv(h-hB-VA_dV?= z&&FQ4C!2qD^X$}XzSh%&91YOoeZ%p%#KF^XGIcHQwGKj&dxW0d7*R3eb>r{|J@V_f 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+ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/kuka_kr5_support/urdf/kr5_arc_macro.xacro b/kuka_kr5_support/urdf/kr5_arc_macro.xacro index 215b9838b..de1128b7a 100644 --- a/kuka_kr5_support/urdf/kr5_arc_macro.xacro +++ b/kuka_kr5_support/urdf/kr5_arc_macro.xacro @@ -15,24 +15,22 @@ - - + + + + + - + From ee6ee14b8fb61d61f7f81cac94fe57c508413bdf Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Denis=20=C5=A0togl?= Date: Tue, 9 May 2017 11:11:44 +0200 Subject: [PATCH 10/56] Corrected xacro node warning --- kuka_kr5_support/launch/load_kr5_arc.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/kuka_kr5_support/launch/load_kr5_arc.launch b/kuka_kr5_support/launch/load_kr5_arc.launch index c5095087b..261c87fe1 100644 --- a/kuka_kr5_support/launch/load_kr5_arc.launch +++ b/kuka_kr5_support/launch/load_kr5_arc.launch @@ -1,5 +1,5 @@ - + From 99844a8e03d8c4db0a505da91a721d049c7c36cf Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Denis=20=C5=A0togl?= Date: Tue, 21 Mar 2017 18:12:18 +0100 Subject: [PATCH 11/56] Added support for kr5 --- kuka_kr5_support/CMakeLists.txt | 15 + kuka_kr5_support/config/joint_names_kr5.yaml | 1 + kuka_kr5_support/launch/load_kr5_arc.launch | 5 + kuka_kr5_support/launch/test_kr5_arc.launch | 9 + .../meshes/kr5_arc/collision/base_link.stl | Bin 0 -> 949184 bytes .../meshes/kr5_arc/collision/link_1.stl | Bin 0 -> 2570984 bytes .../meshes/kr5_arc/collision/link_2.stl | Bin 0 -> 1147784 bytes .../meshes/kr5_arc/collision/link_3.stl | Bin 0 -> 1160384 bytes .../meshes/kr5_arc/collision/link_4.stl | Bin 0 -> 222684 bytes .../meshes/kr5_arc/collision/link_5.stl | Bin 0 -> 170984 bytes .../meshes/kr5_arc/collision/link_6.stl | Bin 0 -> 54684 bytes .../meshes/kr5_arc/visual/base_link.dae | 358 ++++++++++ .../meshes/kr5_arc/visual/link_1.dae | 610 ++++++++++++++++++ .../meshes/kr5_arc/visual/link_2.dae | 526 +++++++++++++++ .../meshes/kr5_arc/visual/link_3.dae | 358 ++++++++++ .../meshes/kr5_arc/visual/link_4.dae | 190 ++++++ .../meshes/kr5_arc/visual/link_5.dae | 106 +++ .../meshes/kr5_arc/visual/link_6.dae | 106 +++ kuka_kr5_support/package.xml | 53 ++ kuka_kr5_support/test/roslaunch_test.xml | 9 + kuka_kr5_support/urdf/kr5_arc.xacro | 13 + kuka_kr5_support/urdf/kr5_arc_macro.xacro | 317 +++++++++ 22 files changed, 2676 insertions(+) create mode 100644 kuka_kr5_support/CMakeLists.txt create mode 100644 kuka_kr5_support/config/joint_names_kr5.yaml create mode 100644 kuka_kr5_support/launch/load_kr5_arc.launch create mode 100644 kuka_kr5_support/launch/test_kr5_arc.launch create mode 100644 kuka_kr5_support/meshes/kr5_arc/collision/base_link.stl create mode 100644 kuka_kr5_support/meshes/kr5_arc/collision/link_1.stl create mode 100644 kuka_kr5_support/meshes/kr5_arc/collision/link_2.stl create mode 100644 kuka_kr5_support/meshes/kr5_arc/collision/link_3.stl create mode 100644 kuka_kr5_support/meshes/kr5_arc/collision/link_4.stl create mode 100644 kuka_kr5_support/meshes/kr5_arc/collision/link_5.stl create mode 100644 kuka_kr5_support/meshes/kr5_arc/collision/link_6.stl create mode 100644 kuka_kr5_support/meshes/kr5_arc/visual/base_link.dae create mode 100644 kuka_kr5_support/meshes/kr5_arc/visual/link_1.dae create mode 100644 kuka_kr5_support/meshes/kr5_arc/visual/link_2.dae create mode 100644 kuka_kr5_support/meshes/kr5_arc/visual/link_3.dae create mode 100644 kuka_kr5_support/meshes/kr5_arc/visual/link_4.dae create mode 100644 kuka_kr5_support/meshes/kr5_arc/visual/link_5.dae create mode 100644 kuka_kr5_support/meshes/kr5_arc/visual/link_6.dae create mode 100644 kuka_kr5_support/package.xml create mode 100644 kuka_kr5_support/test/roslaunch_test.xml create mode 100644 kuka_kr5_support/urdf/kr5_arc.xacro create mode 100644 kuka_kr5_support/urdf/kr5_arc_macro.xacro diff --git a/kuka_kr5_support/CMakeLists.txt b/kuka_kr5_support/CMakeLists.txt new file mode 100644 index 000000000..69dd5788f --- /dev/null +++ b/kuka_kr5_support/CMakeLists.txt @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 2.8.3) + +project(kuka_kr5_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}) diff --git a/kuka_kr5_support/config/joint_names_kr5.yaml b/kuka_kr5_support/config/joint_names_kr5.yaml new file mode 100644 index 000000000..1a23ced85 --- /dev/null +++ b/kuka_kr5_support/config/joint_names_kr5.yaml @@ -0,0 +1 @@ +controller_joint_names: ['joint_a1', 'joint_a2', 'joint_a3', 'joint_a4', 'joint_a5', 'joint_a6'] diff --git a/kuka_kr5_support/launch/load_kr5_arc.launch b/kuka_kr5_support/launch/load_kr5_arc.launch new file mode 100644 index 000000000..c5095087b --- /dev/null +++ b/kuka_kr5_support/launch/load_kr5_arc.launch @@ -0,0 +1,5 @@ + + + + + diff --git a/kuka_kr5_support/launch/test_kr5_arc.launch 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+ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/kuka_kr5_support/package.xml b/kuka_kr5_support/package.xml new file mode 100644 index 000000000..4711712be --- /dev/null +++ b/kuka_kr5_support/package.xml @@ -0,0 +1,53 @@ + + + kuka_kr5_support + 0.1.0 + +

+ ROS-Industrial support for the KUKA KR16 (and variants). +

+

+ This package contains configuration data, 3D models and launch files + for KUKA KR 16 manipulators. This currently includes the KR 16-2 only. +

+

Specifications:

+
    +
  • KR 16-2 - Default
    • +
+

+ Joint limits and maximum joint velocities are based on the information + found in the online datasheet here. All urdfs are based on the default motion and joint velocity limits, + unless noted otherwise. +

+

+ 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. +

+

+ NB: this package currently uses non-valid inertia parameters. +

+ + Lars Tingelstad + Lars Tingelstad + G.A. vd. Hoorn (TU Delft Robotics Institute) + BSD + + http://ros.org/wiki/kuka_kr16_support + https://github.com/ros-industrial/kuka_experimental/issues + https://github.com/ros-industrial/kuka_experimental + + catkin + + roslaunch + + industrial_robot_client + joint_state_publisher + robot_state_publisher + rviz + xacro + + + + + diff --git a/kuka_kr5_support/test/roslaunch_test.xml b/kuka_kr5_support/test/roslaunch_test.xml new file mode 100644 index 000000000..d10e61143 --- /dev/null +++ b/kuka_kr5_support/test/roslaunch_test.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/kuka_kr5_support/urdf/kr5_arc.xacro b/kuka_kr5_support/urdf/kr5_arc.xacro new file mode 100644 index 000000000..67ec1d654 --- /dev/null +++ b/kuka_kr5_support/urdf/kr5_arc.xacro @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/kuka_kr5_support/urdf/kr5_arc_macro.xacro b/kuka_kr5_support/urdf/kr5_arc_macro.xacro new file mode 100644 index 000000000..215b9838b --- /dev/null +++ b/kuka_kr5_support/urdf/kr5_arc_macro.xacro @@ -0,0 +1,317 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From d288aa95958ea622c85a9cd79612a279d9e6db22 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Denis=20=C5=A0togl?= Date: Fri, 24 Mar 2017 11:00:38 +0100 Subject: [PATCH 12/56] Added KR5 Podest --- .../meshes/kr5_arc/collision/podest_link.stl | Bin 0 -> 54084 bytes .../meshes/kr5_arc/visual/podest_link.dae | 106 ++++++++++++++++++ kuka_kr5_support/urdf/kr5_arc_macro.xacro | 24 ++-- 3 files changed, 117 insertions(+), 13 deletions(-) create mode 100644 kuka_kr5_support/meshes/kr5_arc/collision/podest_link.stl create mode 100644 kuka_kr5_support/meshes/kr5_arc/visual/podest_link.dae diff --git a/kuka_kr5_support/meshes/kr5_arc/collision/podest_link.stl b/kuka_kr5_support/meshes/kr5_arc/collision/podest_link.stl new file mode 100644 index 0000000000000000000000000000000000000000..86fb222c8f24c27d0a2d252291e4bcc29079a74c GIT binary patch literal 54084 zcmb__3D9k2b>$HeeJYAU;dL}>S(QOi2@#Ca_%8ex9NKaKHSO49BSwj7nT+xfxriyc z93T#@K0HV(z~F7MtJXbljD@U;B}heQQ!8smgSvG-ng-Sw^S4F7#r^j zr2O6S+t)VVwFz?V)eZX}uy)3Yzco&+lV1Chwa0(;KR~|rgKt^;@-vp*duD$P`2g8>0bvP79GG}Xg^|!Y?WW3*pp91-tFFIm;uWjc*uD$a7 zob`=^=1ub@Xnp2I_nptLI=ctqc27U*!Q+z;{F4LbnWxNG=CI~)e?3~U)$^DKkmt{XY?Q6bf59b=l?hO9wQOPmTrHzUC-z+hkNB(<6rJEe)lbphPUWE z#o>MH9u9luS@ixmdhZ|3F1>Wt(;u#tUZgh}?J&aq^*CO8>F3sd{+`=r@PjL?hus^;)G-1jSQ-E(}uul#mTe|X-V zZlW0jPpGR&xz;ijF)|J z?biKn?dfyxgXcf%?zP7~@KQt@BPvF`?iJ+`dgOb(^`Z0lU-3%Uhv(h-hB-VA_dV?= z&&FQ4C!2qD^X$}XzSh%&91YOoeZ%p%#KF^XGIcHQwGKj&dxW0d7*R3eb>r{|J@V_f 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16 290 166 290 2 291 166 291 167 291 0 292 2 292 167 292 0 293 167 293 168 293 82 294 0 294 168 294 82 295 168 295 169 295 74 296 169 296 131 296 74 297 82 297 169 297 67 298 131 298 132 298 170 299 171 299 172 299 170 300 173 300 171 300 173 301 174 301 171 301 173 302 175 302 174 302 175 303 176 303 174 303 175 304 177 304 176 304 177 305 172 305 176 305 177 306 170 306 172 306 137 307 134 307 175 307 133 308 175 308 134 308 140 309 137 309 175 309 132 310 175 310 133 310 142 311 140 311 175 311 131 312 175 312 132 312 144 313 142 313 175 313 169 314 175 314 131 314 170 315 135 315 173 315 170 316 151 316 149 316 170 317 149 317 147 317 170 318 147 318 145 318 146 319 144 319 175 319 170 320 145 320 143 320 170 321 143 321 141 321 170 322 141 322 139 322 170 323 139 323 138 323 170 324 138 324 136 324 170 325 136 325 135 325 170 326 177 326 153 326 170 327 153 327 151 327 177 328 169 328 168 328 177 329 168 329 167 329 177 330 167 330 166 330 177 331 166 331 164 331 177 332 164 332 163 332 177 333 175 333 169 333 173 334 156 334 154 334 173 335 154 335 152 335 173 336 152 336 150 336 173 337 150 337 148 337 173 338 148 338 146 338 173 339 146 339 175 339 161 340 177 340 163 340 158 341 156 341 173 341 159 342 177 342 161 342 160 343 158 343 173 343 157 344 177 344 159 344 162 345 160 345 173 345 155 346 177 346 157 346 165 347 162 347 173 347 153 348 177 348 155 348 135 349 165 349 173 349 171 350 174 350 172 350 174 351 176 351 172 351

+ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/kuka_kr5_support/urdf/kr5_arc_macro.xacro b/kuka_kr5_support/urdf/kr5_arc_macro.xacro index 215b9838b..de1128b7a 100644 --- a/kuka_kr5_support/urdf/kr5_arc_macro.xacro +++ b/kuka_kr5_support/urdf/kr5_arc_macro.xacro @@ -15,24 +15,22 @@ - - + + + + + - + From 52887becf7cb4a5dc953fb084571026c2562d83a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Denis=20=C5=A0togl?= Date: Tue, 9 May 2017 11:11:44 +0200 Subject: [PATCH 13/56] Corrected xacro node warning --- kuka_kr5_support/launch/load_kr5_arc.launch | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/kuka_kr5_support/launch/load_kr5_arc.launch b/kuka_kr5_support/launch/load_kr5_arc.launch index c5095087b..261c87fe1 100644 --- a/kuka_kr5_support/launch/load_kr5_arc.launch +++ b/kuka_kr5_support/launch/load_kr5_arc.launch @@ -1,5 +1,5 @@ - + From 3b9bc039b8b1b5f52c6041a796f00d1f36838e48 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Denis=20=C5=A0togl?= Date: Tue, 9 May 2017 16:45:24 +0200 Subject: [PATCH 14/56] Removed dependecy to schunk_description --- kuka_kr5_support/urdf/kr5_arc.xacro | 2 -- kuka_kr5_support/urdf/kr5_arc_macro.xacro | 7 ++++++- 2 files changed, 6 insertions(+), 3 deletions(-) diff --git a/kuka_kr5_support/urdf/kr5_arc.xacro b/kuka_kr5_support/urdf/kr5_arc.xacro index 67ec1d654..105008243 100644 --- a/kuka_kr5_support/urdf/kr5_arc.xacro +++ b/kuka_kr5_support/urdf/kr5_arc.xacro @@ -2,8 +2,6 @@ - - diff --git a/kuka_kr5_support/urdf/kr5_arc_macro.xacro b/kuka_kr5_support/urdf/kr5_arc_macro.xacro index de1128b7a..36a48508b 100644 --- a/kuka_kr5_support/urdf/kr5_arc_macro.xacro +++ b/kuka_kr5_support/urdf/kr5_arc_macro.xacro @@ -1,6 +1,7 @@ + @@ -14,7 +15,11 @@ - + + + + + From 2758117b54c36a65698d934cb1d73541b48bf8a5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Denis=20=C5=A0togl?= Date: Thu, 11 May 2017 23:38:44 +0000 Subject: [PATCH 15/56] Partitial changes as disscussed... the rest follows --- kuka_kr5_support/package.xml | 15 +++++---- kuka_kr5_support/urdf/kr5_arc_macro.xacro | 38 +++++++++++++---------- 2 files changed, 29 insertions(+), 24 deletions(-) diff --git a/kuka_kr5_support/package.xml b/kuka_kr5_support/package.xml index 4711712be..c136d0ee5 100644 --- a/kuka_kr5_support/package.xml +++ b/kuka_kr5_support/package.xml @@ -4,19 +4,19 @@ 0.1.0

- ROS-Industrial support for the KUKA KR16 (and variants). + ROS-Industrial support for the KUKA KR5 (and variants).

This package contains configuration data, 3D models and launch files - for KUKA KR 16 manipulators. This currently includes the KR 16-2 only. + for KUKA KR 5 manipulators. This currently includes the KR 5 arc only.

Specifications:

    -
  • KR 16-2 - Default
    • +
  • KR 5 arc - Default

Joint limits and maximum joint velocities are based on the information - found in the online datasheet here. All urdfs are based on the default motion and joint velocity limits, + found in the online datasheet here. All urdfs are based on the default motion and joint velocity limits, unless noted otherwise.

@@ -28,12 +28,11 @@ NB: this package currently uses non-valid inertia parameters.

- Lars Tingelstad - Lars Tingelstad - G.A. vd. Hoorn (TU Delft Robotics Institute) + Denis Å togl + Denis Å togl (KIT, IAR-IPR) BSD - http://ros.org/wiki/kuka_kr16_support + http://ros.org/wiki/kuka_kr5_support https://github.com/ros-industrial/kuka_experimental/issues https://github.com/ros-industrial/kuka_experimental diff --git a/kuka_kr5_support/urdf/kr5_arc_macro.xacro b/kuka_kr5_support/urdf/kr5_arc_macro.xacro index 36a48508b..7544ddf15 100644 --- a/kuka_kr5_support/urdf/kr5_arc_macro.xacro +++ b/kuka_kr5_support/urdf/kr5_arc_macro.xacro @@ -1,7 +1,7 @@ - + @@ -49,8 +49,14 @@ - - + + + + + + + + @@ -262,19 +268,19 @@ - + - + - + - + @@ -282,37 +288,37 @@ - + - + - + - + - + - + - + - - + + From 4028b74cf6980d9be6488970e59148b373979eb3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Denis=20=C5=A0togl?= Date: Mon, 15 May 2017 18:44:00 +0000 Subject: [PATCH 16/56] Podest remove and file restructured. Removed test folder since whole launch folder can be tested. --- kuka_kr5_support/CMakeLists.txt | 2 +- .../meshes/kr5_arc/collision/podest_link.stl | Bin 54084 -> 0 bytes .../meshes/kr5_arc/visual/podest_link.dae | 106 ------------------ kuka_kr5_support/test/roslaunch_test.xml | 9 -- kuka_kr5_support/urdf/kr5_arc.xacro | 7 +- kuka_kr5_support/urdf/kr5_arc_macro.xacro | 71 ++---------- 6 files changed, 14 insertions(+), 181 deletions(-) delete mode 100644 kuka_kr5_support/meshes/kr5_arc/collision/podest_link.stl delete mode 100644 kuka_kr5_support/meshes/kr5_arc/visual/podest_link.dae delete mode 100644 kuka_kr5_support/test/roslaunch_test.xml diff --git a/kuka_kr5_support/CMakeLists.txt b/kuka_kr5_support/CMakeLists.txt index 69dd5788f..bfe49e781 100644 --- a/kuka_kr5_support/CMakeLists.txt +++ b/kuka_kr5_support/CMakeLists.txt @@ -8,7 +8,7 @@ catkin_package() if (CATKIN_ENABLE_TESTING) find_package(roslaunch REQUIRED) - roslaunch_add_file_check(test/roslaunch_test.xml) + roslaunch_add_file_check(launch) endif() install(DIRECTORY config launch meshes urdf diff --git a/kuka_kr5_support/meshes/kr5_arc/collision/podest_link.stl b/kuka_kr5_support/meshes/kr5_arc/collision/podest_link.stl deleted file mode 100644 index 86fb222c8f24c27d0a2d252291e4bcc29079a74c..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 54084 zcmb__3D9k2b>$HeeJYAU;dL}>S(QOi2@#Ca_%8ex9NKaKHSO49BSwj7nT+xfxriyc z93T#@K0HV(z~F7MtJXbljD@U;B}heQQ!8smgSvG-ng-Sw^S4F7#r^j zr2O6S+t)VVwFz?V)eZX}uy)3Yzco&+lV1Chwa0(;KR~|rgKt^;@-vp*duD$P`2g8>0bvP79GG}Xg^|!Y?WW3*pp91-tFFIm;uWjc*uD$a7 zob`=^=1ub@Xnp2I_nptLI=ctqc27U*!Q+z;{F4LbnWxNG=CI~)e?3~U)$^DKkmt{XY?Q6bf59b=l?hO9wQOPmTrHzUC-z+hkNB(<6rJEe)lbphPUWE z#o>MH9u9luS@ixmdhZ|3F1>Wt(;u#tUZgh}?J&aq^*CO8>F3sd{+`=r@PjL?hus^;)G-1jSQ-E(}uul#mTe|X-V zZlW0jPpGR&xz;ijF)|J z?biKn?dfyxgXcf%?zP7~@KQt@BPvF`?iJ+`dgOb(^`Z0lU-3%Uhv(h-hB-VA_dV?= z&&FQ4C!2qD^X$}XzSh%&91YOoeZ%p%#KF^XGIcHQwGKj&dxW0d7*R3eb>r{|J@V_f 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- - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/kuka_kr5_support/test/roslaunch_test.xml b/kuka_kr5_support/test/roslaunch_test.xml deleted file mode 100644 index d10e61143..000000000 --- a/kuka_kr5_support/test/roslaunch_test.xml +++ /dev/null @@ -1,9 +0,0 @@ - - - - - - - - - diff --git a/kuka_kr5_support/urdf/kr5_arc.xacro b/kuka_kr5_support/urdf/kr5_arc.xacro index 105008243..3c5d980ae 100644 --- a/kuka_kr5_support/urdf/kr5_arc.xacro +++ b/kuka_kr5_support/urdf/kr5_arc.xacro @@ -1,11 +1,6 @@ - - - - - - + diff --git a/kuka_kr5_support/urdf/kr5_arc_macro.xacro b/kuka_kr5_support/urdf/kr5_arc_macro.xacro index 7544ddf15..7465cf8e4 100644 --- a/kuka_kr5_support/urdf/kr5_arc_macro.xacro +++ b/kuka_kr5_support/urdf/kr5_arc_macro.xacro @@ -1,63 +1,7 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + @@ -262,7 +206,7 @@ - + @@ -296,7 +240,7 @@ - + @@ -322,5 +266,14 @@ + + + + + + + + + From c2db3e55b6a45c4f0da69acecf9d8d8ca93105ef Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Denis=20=C5=A0togl?= Date: Mon, 15 May 2017 18:20:47 +0000 Subject: [PATCH 17/56] KUKA_DEG2RAD replaced with radians function see #79 --- kuka_kr16_support/launch/load_kr16_2.launch | 2 +- kuka_kr16_support/urdf/kr16_2_macro.xacro | 16 +++++++--------- 2 files changed, 8 insertions(+), 10 deletions(-) diff --git a/kuka_kr16_support/launch/load_kr16_2.launch b/kuka_kr16_support/launch/load_kr16_2.launch index 01b997b33..9684d949a 100644 --- a/kuka_kr16_support/launch/load_kr16_2.launch +++ b/kuka_kr16_support/launch/load_kr16_2.launch @@ -1,5 +1,5 @@ - + diff --git a/kuka_kr16_support/urdf/kr16_2_macro.xacro b/kuka_kr16_support/urdf/kr16_2_macro.xacro index 6e6671a06..5c8520392 100644 --- a/kuka_kr16_support/urdf/kr16_2_macro.xacro +++ b/kuka_kr16_support/urdf/kr16_2_macro.xacro @@ -1,8 +1,6 @@ - - @@ -157,7 +155,7 @@ - + @@ -165,7 +163,7 @@ - + @@ -173,7 +171,7 @@ - + @@ -181,7 +179,7 @@ - + @@ -189,7 +187,7 @@ - + @@ -197,13 +195,13 @@ - + - + From 84c440597accbe8bbf5cd7daa9a5fc51ee9ec2f3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Denis=20=C5=A0togl?= Date: Tue, 16 May 2017 11:30:13 +0000 Subject: [PATCH 18/56] Lunch file testing simplified --- kuka_kr16_support/CMakeLists.txt | 2 +- kuka_kr16_support/test/roslaunch_test.xml | 9 --------- 2 files changed, 1 insertion(+), 10 deletions(-) delete mode 100644 kuka_kr16_support/test/roslaunch_test.xml diff --git a/kuka_kr16_support/CMakeLists.txt b/kuka_kr16_support/CMakeLists.txt index 2f7014ae6..d136159e1 100644 --- a/kuka_kr16_support/CMakeLists.txt +++ b/kuka_kr16_support/CMakeLists.txt @@ -8,7 +8,7 @@ catkin_package() if (CATKIN_ENABLE_TESTING) find_package(roslaunch REQUIRED) - roslaunch_add_file_check(test/roslaunch_test.xml) + roslaunch_add_file_check(launch) endif() install(DIRECTORY config launch meshes urdf diff --git a/kuka_kr16_support/test/roslaunch_test.xml b/kuka_kr16_support/test/roslaunch_test.xml deleted file mode 100644 index c7a70b290..000000000 --- a/kuka_kr16_support/test/roslaunch_test.xml +++ /dev/null @@ -1,9 +0,0 @@ - - - - - - - - - From b809f14a9c9e9c637afc5b0b0f2b709eb18cb840 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Denis=20=C5=A0togl?= Date: Tue, 16 May 2017 15:22:28 +0000 Subject: [PATCH 19/56] Reverted test changes --- kuka_kr5_support/CMakeLists.txt | 2 +- kuka_kr5_support/test/roslaunch_test.xml | 9 +++++++++ 2 files changed, 10 insertions(+), 1 deletion(-) create mode 100644 kuka_kr5_support/test/roslaunch_test.xml diff --git a/kuka_kr5_support/CMakeLists.txt b/kuka_kr5_support/CMakeLists.txt index bfe49e781..69dd5788f 100644 --- a/kuka_kr5_support/CMakeLists.txt +++ b/kuka_kr5_support/CMakeLists.txt @@ -8,7 +8,7 @@ catkin_package() if (CATKIN_ENABLE_TESTING) find_package(roslaunch REQUIRED) - roslaunch_add_file_check(launch) + roslaunch_add_file_check(test/roslaunch_test.xml) endif() install(DIRECTORY config launch meshes urdf diff --git a/kuka_kr5_support/test/roslaunch_test.xml b/kuka_kr5_support/test/roslaunch_test.xml new file mode 100644 index 000000000..e5176c771 --- /dev/null +++ b/kuka_kr5_support/test/roslaunch_test.xml @@ -0,0 +1,9 @@ + + + + + + + + + From cb885a1ac88e0db7469cb650b7ee3bc282d4bfd3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Denis=20=C5=A0togl?= Date: Tue, 16 May 2017 15:37:57 +0000 Subject: [PATCH 20/56] Fixed accoring to comments --- kuka_kr5_support/package.xml | 3 +- kuka_kr5_support/urdf/kr5_arc.xacro | 1 - kuka_kr5_support/urdf/kr5_arc_macro.xacro | 159 +++++++++++----------- 3 files changed, 81 insertions(+), 82 deletions(-) diff --git a/kuka_kr5_support/package.xml b/kuka_kr5_support/package.xml index c136d0ee5..12e7ac38e 100644 --- a/kuka_kr5_support/package.xml +++ b/kuka_kr5_support/package.xml @@ -30,9 +30,10 @@ Denis Å togl Denis Å togl (KIT, IAR-IPR) + G.A. vd. Hoorn (TU Delft Robotics Institute) BSD - http://ros.org/wiki/kuka_kr5_support + http://wiki.ros.org/kuka_kr5_support https://github.com/ros-industrial/kuka_experimental/issues https://github.com/ros-industrial/kuka_experimental diff --git a/kuka_kr5_support/urdf/kr5_arc.xacro b/kuka_kr5_support/urdf/kr5_arc.xacro index 3c5d980ae..e9ad5ef20 100644 --- a/kuka_kr5_support/urdf/kr5_arc.xacro +++ b/kuka_kr5_support/urdf/kr5_arc.xacro @@ -1,5 +1,4 @@ - diff --git a/kuka_kr5_support/urdf/kr5_arc_macro.xacro b/kuka_kr5_support/urdf/kr5_arc_macro.xacro index 7465cf8e4..249dc8e5c 100644 --- a/kuka_kr5_support/urdf/kr5_arc_macro.xacro +++ b/kuka_kr5_support/urdf/kr5_arc_macro.xacro @@ -33,21 +33,21 @@ - - - - + + + + - + @@ -62,19 +62,19 @@ - - - - + + + + @@ -91,19 +91,19 @@ - - - - + + + + @@ -120,19 +120,19 @@ - - - - + + + + @@ -149,19 +149,19 @@ - - - - + + + + @@ -178,19 +178,19 @@ - - - - + + + + @@ -273,7 +273,6 @@ - From fba1914279fb00b8525b02092ca3ddd632331b3a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Denis=20=C5=A0togl?= Date: Tue, 21 Mar 2017 18:12:18 +0100 Subject: [PATCH 21/56] Added support for kr5 --- kuka_kr5_support/CMakeLists.txt | 15 + kuka_kr5_support/config/joint_names_kr5.yaml | 1 + kuka_kr5_support/launch/load_kr5_arc.launch | 5 + kuka_kr5_support/launch/test_kr5_arc.launch | 9 + .../meshes/kr5_arc/collision/base_link.stl | Bin 0 -> 949184 bytes .../meshes/kr5_arc/collision/link_1.stl | Bin 0 -> 2570984 bytes .../meshes/kr5_arc/collision/link_2.stl | Bin 0 -> 1147784 bytes .../meshes/kr5_arc/collision/link_3.stl | Bin 0 -> 1160384 bytes .../meshes/kr5_arc/collision/link_4.stl | Bin 0 -> 222684 bytes .../meshes/kr5_arc/collision/link_5.stl | Bin 0 -> 170984 bytes .../meshes/kr5_arc/collision/link_6.stl | Bin 0 -> 54684 bytes .../meshes/kr5_arc/visual/base_link.dae | 358 ++++++++++ .../meshes/kr5_arc/visual/link_1.dae | 610 ++++++++++++++++++ .../meshes/kr5_arc/visual/link_2.dae | 526 +++++++++++++++ .../meshes/kr5_arc/visual/link_3.dae | 358 ++++++++++ .../meshes/kr5_arc/visual/link_4.dae | 190 ++++++ .../meshes/kr5_arc/visual/link_5.dae | 106 +++ .../meshes/kr5_arc/visual/link_6.dae | 106 +++ kuka_kr5_support/package.xml | 53 ++ kuka_kr5_support/test/roslaunch_test.xml | 9 + kuka_kr5_support/urdf/kr5_arc.xacro | 5 + kuka_kr5_support/urdf/kr5_arc_macro.xacro | 278 ++++++++ 22 files changed, 2629 insertions(+) create mode 100644 kuka_kr5_support/CMakeLists.txt create mode 100644 kuka_kr5_support/config/joint_names_kr5.yaml create mode 100644 kuka_kr5_support/launch/load_kr5_arc.launch create mode 100644 kuka_kr5_support/launch/test_kr5_arc.launch create mode 100644 kuka_kr5_support/meshes/kr5_arc/collision/base_link.stl create mode 100644 kuka_kr5_support/meshes/kr5_arc/collision/link_1.stl create mode 100644 kuka_kr5_support/meshes/kr5_arc/collision/link_2.stl create mode 100644 kuka_kr5_support/meshes/kr5_arc/collision/link_3.stl create mode 100644 kuka_kr5_support/meshes/kr5_arc/collision/link_4.stl create mode 100644 kuka_kr5_support/meshes/kr5_arc/collision/link_5.stl create mode 100644 kuka_kr5_support/meshes/kr5_arc/collision/link_6.stl create mode 100644 kuka_kr5_support/meshes/kr5_arc/visual/base_link.dae create mode 100644 kuka_kr5_support/meshes/kr5_arc/visual/link_1.dae create mode 100644 kuka_kr5_support/meshes/kr5_arc/visual/link_2.dae create mode 100644 kuka_kr5_support/meshes/kr5_arc/visual/link_3.dae create mode 100644 kuka_kr5_support/meshes/kr5_arc/visual/link_4.dae create mode 100644 kuka_kr5_support/meshes/kr5_arc/visual/link_5.dae create mode 100644 kuka_kr5_support/meshes/kr5_arc/visual/link_6.dae create mode 100644 kuka_kr5_support/package.xml create mode 100644 kuka_kr5_support/test/roslaunch_test.xml create mode 100644 kuka_kr5_support/urdf/kr5_arc.xacro create mode 100644 kuka_kr5_support/urdf/kr5_arc_macro.xacro diff --git a/kuka_kr5_support/CMakeLists.txt b/kuka_kr5_support/CMakeLists.txt new file mode 100644 index 000000000..69dd5788f --- /dev/null +++ b/kuka_kr5_support/CMakeLists.txt @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 2.8.3) + +project(kuka_kr5_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}) diff --git a/kuka_kr5_support/config/joint_names_kr5.yaml b/kuka_kr5_support/config/joint_names_kr5.yaml new file mode 100644 index 000000000..1a23ced85 --- /dev/null +++ b/kuka_kr5_support/config/joint_names_kr5.yaml @@ -0,0 +1 @@ +controller_joint_names: ['joint_a1', 'joint_a2', 'joint_a3', 'joint_a4', 'joint_a5', 'joint_a6'] diff --git a/kuka_kr5_support/launch/load_kr5_arc.launch b/kuka_kr5_support/launch/load_kr5_arc.launch new file mode 100644 index 000000000..261c87fe1 --- /dev/null +++ b/kuka_kr5_support/launch/load_kr5_arc.launch @@ -0,0 +1,5 @@ + + + + + diff --git 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+ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/kuka_kr5_support/package.xml b/kuka_kr5_support/package.xml new file mode 100644 index 000000000..12e7ac38e --- /dev/null +++ b/kuka_kr5_support/package.xml @@ -0,0 +1,53 @@ + + + kuka_kr5_support + 0.1.0 + +

+ ROS-Industrial support for the KUKA KR5 (and variants). +

+

+ This package contains configuration data, 3D models and launch files + for KUKA KR 5 manipulators. This currently includes the KR 5 arc only. +

+

Specifications:

+
    +
  • KR 5 arc - Default
    • +
+

+ Joint limits and maximum joint velocities are based on the information + found in the online datasheet here. All urdfs are based on the default motion and joint velocity limits, + unless noted otherwise. +

+

+ 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. +

+

+ NB: this package currently uses non-valid inertia parameters. +

+ + Denis Å togl + Denis Å togl (KIT, IAR-IPR) + G.A. vd. Hoorn (TU Delft Robotics Institute) + BSD + + http://wiki.ros.org/kuka_kr5_support + https://github.com/ros-industrial/kuka_experimental/issues + https://github.com/ros-industrial/kuka_experimental + + catkin + + roslaunch + + industrial_robot_client + joint_state_publisher + robot_state_publisher + rviz + xacro + + + + + diff --git a/kuka_kr5_support/test/roslaunch_test.xml b/kuka_kr5_support/test/roslaunch_test.xml new file mode 100644 index 000000000..e5176c771 --- /dev/null +++ b/kuka_kr5_support/test/roslaunch_test.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/kuka_kr5_support/urdf/kr5_arc.xacro b/kuka_kr5_support/urdf/kr5_arc.xacro new file mode 100644 index 000000000..e9ad5ef20 --- /dev/null +++ b/kuka_kr5_support/urdf/kr5_arc.xacro @@ -0,0 +1,5 @@ + + + + + diff --git a/kuka_kr5_support/urdf/kr5_arc_macro.xacro b/kuka_kr5_support/urdf/kr5_arc_macro.xacro new file mode 100644 index 000000000..249dc8e5c --- /dev/null +++ b/kuka_kr5_support/urdf/kr5_arc_macro.xacro @@ -0,0 +1,278 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From cc626daa5f9e0a2478e87606f030cd2772d84e6d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Denis=20=C5=A0togl?= Date: Wed, 17 May 2017 00:27:42 +0000 Subject: [PATCH 22/56] Updated xacro wiki URL --- kuka_kr5_support/urdf/kr5_arc.xacro | 2 +- kuka_kr5_support/urdf/kr5_arc_macro.xacro | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/kuka_kr5_support/urdf/kr5_arc.xacro b/kuka_kr5_support/urdf/kr5_arc.xacro index e9ad5ef20..f54c7434b 100644 --- a/kuka_kr5_support/urdf/kr5_arc.xacro +++ b/kuka_kr5_support/urdf/kr5_arc.xacro @@ -1,5 +1,5 @@ - + diff --git a/kuka_kr5_support/urdf/kr5_arc_macro.xacro b/kuka_kr5_support/urdf/kr5_arc_macro.xacro index 249dc8e5c..2ea62c9ac 100644 --- a/kuka_kr5_support/urdf/kr5_arc_macro.xacro +++ b/kuka_kr5_support/urdf/kr5_arc_macro.xacro @@ -1,5 +1,5 @@ - + From f06421387678c5576d9324f1a0f8477e36f98044 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Denis=20=C5=A0togl?= Date: Wed, 14 Jun 2017 11:30:43 +0200 Subject: [PATCH 23/56] Reduced collision meshes --- .../meshes/kr5_arc/collision/base_link.stl | Bin 949184 -> 65484 bytes .../meshes/kr5_arc/collision/link_1.stl | Bin 2570984 -> 155884 bytes .../meshes/kr5_arc/collision/link_2.stl | Bin 1147784 -> 66084 bytes .../meshes/kr5_arc/collision/link_3.stl | Bin 1160384 -> 58484 bytes .../meshes/kr5_arc/collision/link_4.stl | Bin 222684 -> 15784 bytes .../meshes/kr5_arc/collision/link_5.stl | Bin 170984 -> 46684 bytes .../meshes/kr5_arc/collision/link_6.stl | Bin 54684 -> 14884 bytes 7 files changed, 0 insertions(+), 0 deletions(-) diff --git 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@@ -155,11 +155,11 @@ - - + + - - + + @@ -168,7 +168,7 @@ - + @@ -177,7 +177,7 @@ - + diff --git a/kuka_kr5_support/urdf/kr5_arc_macro.xacro b/kuka_kr5_support/urdf/kr5_arc_macro.xacro index 2ea62c9ac..5f5083f37 100644 --- a/kuka_kr5_support/urdf/kr5_arc_macro.xacro +++ b/kuka_kr5_support/urdf/kr5_arc_macro.xacro @@ -236,7 +236,7 @@ - + @@ -244,7 +244,7 @@ - + @@ -262,7 +262,7 @@ - + From 762815ff6f6ef3e6a5d571a694a82bc20a3bb6d6 Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Wed, 14 Jun 2017 14:52:29 +0200 Subject: [PATCH 25/56] kr5arc: change collision mesh units to meters. --- .../meshes/kr5_arc/collision/base_link.stl | Bin 65484 -> 65484 bytes .../meshes/kr5_arc/collision/link_1.stl | Bin 155884 -> 155884 bytes .../meshes/kr5_arc/collision/link_2.stl | Bin 66084 -> 66084 bytes .../meshes/kr5_arc/collision/link_3.stl | Bin 58484 -> 58484 bytes .../meshes/kr5_arc/collision/link_4.stl | Bin 15784 -> 15784 bytes .../meshes/kr5_arc/collision/link_5.stl | Bin 46684 -> 46684 bytes .../meshes/kr5_arc/collision/link_6.stl | Bin 14884 -> 14884 bytes kuka_kr5_support/urdf/kr5_arc_macro.xacro | 14 +++++++------- 8 files changed, 7 insertions(+), 7 deletions(-) diff --git a/kuka_kr5_support/meshes/kr5_arc/collision/base_link.stl b/kuka_kr5_support/meshes/kr5_arc/collision/base_link.stl index e5265c2b2faf4db8274f68bcb08a625e85eac1b6..3497f8a783a0084c8cd9d5d50b69d00ed0141edb 100644 GIT binary patch literal 65484 zcmb4s1ymQ!7xti{pxA*0Vj*^8F|&3zVq+(Eyod@Wf{LONHZ~SwC$M*HU;DKSySqF1 zX7;zs|Bm{7=X{>yIlsf+XYS1G?8I|p8UzdN z>TVvR{^{jbp(OeL`d84N5dSg$9)p{n^GHdV$g??Tgf@eZ&`++L*O6p97Vemz`823s zWP1?@`1kEu{nPN0>j^3E=*&;O{GjI;)SO53iGUwo8NsbynAfVXM96o0gT8poEZU)K zBGh=WL0|GBj1p4p=_|P9+g>l5zL!=lIuZsA-=Gg1>CK9_kA(gYWAzVby_wTY+wZ)K zycr=4$_ImElW@JwW`Av@i|tAKS1Mvc$w*kVXM?`%utYo<+Zx(m2;krMy`iy>8$xKB zj=(F|WVO%C0MB9#p-H|b>~R0p#_zz(cSNl|RdR%MqONjxVvWoSV4anPh>AxXwhdN`_6{g|0@%` z8S%o)IY>n)IuM$Wa=oX4U%}yg$Y4L{vM?0FcXWXEEk@FrV?*Kg><-|5awuI|B^1uS 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b/kuka_kr5_support/urdf/kr5_arc_macro.xacro index 5f5083f37..3d8f3f0af 100644 --- a/kuka_kr5_support/urdf/kr5_arc_macro.xacro +++ b/kuka_kr5_support/urdf/kr5_arc_macro.xacro @@ -26,7 +26,7 @@ - + @@ -55,7 +55,7 @@ - + @@ -84,7 +84,7 @@ - + @@ -113,7 +113,7 @@ - + @@ -142,7 +142,7 @@ - + @@ -171,7 +171,7 @@ - + @@ -200,7 +200,7 @@ - + From 8c26117f497d08752cc7ead1fc4852a71c25e06d Mon Sep 17 00:00:00 2001 From: Dennis Hartmann Date: Thu, 10 Aug 2017 17:47:33 +0200 Subject: [PATCH 26/56] Added calculation of joint velocities. --- .../kuka_rsi_hw_interface/kuka_hardware_interface.h | 1 + kuka_rsi_hw_interface/src/kuka_hardware_interface.cpp | 11 ++++++++--- 2 files changed, 9 insertions(+), 3 deletions(-) diff --git a/kuka_rsi_hw_interface/include/kuka_rsi_hw_interface/kuka_hardware_interface.h b/kuka_rsi_hw_interface/include/kuka_rsi_hw_interface/kuka_hardware_interface.h index 9e1f919b3..4d46c8257 100644 --- a/kuka_rsi_hw_interface/include/kuka_rsi_hw_interface/kuka_hardware_interface.h +++ b/kuka_rsi_hw_interface/include/kuka_rsi_hw_interface/kuka_hardware_interface.h @@ -85,6 +85,7 @@ class KukaHardwareInterface : public hardware_interface::RobotHW std::vector joint_names_; std::vector joint_position_; + std::vector joint_position_last_; std::vector joint_velocity_; std::vector joint_effort_; std::vector joint_position_command_; diff --git a/kuka_rsi_hw_interface/src/kuka_hardware_interface.cpp b/kuka_rsi_hw_interface/src/kuka_hardware_interface.cpp index a326bb141..f41279200 100644 --- a/kuka_rsi_hw_interface/src/kuka_hardware_interface.cpp +++ b/kuka_rsi_hw_interface/src/kuka_hardware_interface.cpp @@ -46,9 +46,9 @@ namespace kuka_rsi_hw_interface { KukaHardwareInterface::KukaHardwareInterface() : - joint_position_(6, 0.0), joint_velocity_(6, 0.0), joint_effort_(6, 0.0), joint_position_command_(6, 0.0), joint_velocity_command_( - 6, 0.0), joint_effort_command_(6, 0.0), joint_names_(6), rsi_initial_joint_positions_(6, 0.0), rsi_joint_position_corrections_( - 6, 0.0), ipoc_(0), n_dof_(6) + joint_position_(6, 0.0), joint_position_last_(6, 0.0), joint_velocity_(6, 0.0), joint_effort_(6, 0.0), + joint_position_command_(6, 0.0), joint_velocity_command_(6, 0.0), joint_effort_command_(6, 0.0), joint_names_(6), + rsi_initial_joint_positions_(6, 0.0), rsi_joint_position_corrections_(6, 0.0), ipoc_(0), n_dof_(6) { in_buffer_.resize(1024); out_buffer_.resize(1024); @@ -107,8 +107,13 @@ bool KukaHardwareInterface::read(const ros::Time time, const ros::Duration perio for (std::size_t i = 0; i < n_dof_; ++i) { joint_position_[i] = DEG2RAD * rsi_state_.positions[i]; + if(!period.isZero()) + { + joint_velocity_[i] = (joint_position_[i] - joint_position_last_[i]) / period.toSec(); + } } ipoc_ = rsi_state_.ipoc; + joint_position_last_ = joint_position_; return true; } From a918c84685609baa37fb6d0af8bea742364d1313 Mon Sep 17 00:00:00 2001 From: Ivar Eriksen Date: Tue, 18 Oct 2016 14:49:55 +0200 Subject: [PATCH 27/56] First draft of readme --- kuka_rsi_hw_interface/krl/KR_C2/README.md | 116 ++++++++++++++++++++++ 1 file changed, 116 insertions(+) create mode 100644 kuka_rsi_hw_interface/krl/KR_C2/README.md diff --git a/kuka_rsi_hw_interface/krl/KR_C2/README.md b/kuka_rsi_hw_interface/krl/KR_C2/README.md new file mode 100644 index 000000000..e16b2b990 --- /dev/null +++ b/kuka_rsi_hw_interface/krl/KR_C2/README.md @@ -0,0 +1,116 @@ +# Configuring RSI on the controller + +This guide highlights the steps needed in order to successfully configure the **RSI interface** on the KR-C2 controller to work with the **kuka_rsi_hardware_interface** on your PC with ROS. + +## 1. Controller network configuration + +Controller setup is described in chapter 4 of the **KUKA.Ethernet RSI XML 1.1** manual. +Make sure the not to use the `192.0.1.x` IP range for the controller or PC. + +From the Ethernet RSI XML manual: + +> The IP address range 192.0.1.x is reserved and is disabled for applications. +> Configuring the VxWorks network connection with this address range results +> in a system error in the KUKA system software. It is no longer possible to +> boot the robot controller. + +Ping the controller from the PC with ROS to make sure the network configuration is working. + + +## 2. KRL Files + +The files included in this folder specifies the data transferred via RSI. Some of the files needs to be modified to work for your specific configuration. + +##### ros_rsi_ethernet.xml + +1. Edit the `IP_NUMBER` tag so that it corresponds to the IP address (192.168.1.xx) previously added for your PC. +2. Keep the `PORT` tag as it is (49152) or change it if you want to use another port. + +Note that the `rsi/listen_address` and `rsi/listen_port` parameters of the `kuka_rsi_hw_interface` must correspond to the `IP_NUMBER`and `PORT` set in these KRL files. + + +##### ros_rsi.src +This should only be edited if the start position specified within the file is not desirable for your application. + + +##### Copy files to controller + +1. Copy the `ros_rsi.src` file to `KRC:\R1\Program`. +2. Copy the `ros_rsi_ethernet.xml` file to `C:\KRC\ROBOTER\Init`. + +## 3. Configure the kuka_rsi_hw_interface + +The **kuka_rsi_hardware_interface** needs to be configured in order to successfully communicate with RSI. Inside `/kuka_rsi_hw_interface/test` and `/kuka_rsi_hw_interface/config` in this repository is a set of `*.yaml` files. These configuration files may be loaded into a launch-file used to start the **kuka_rsi_hardware_interface** with correct parameters, such as: + +* **Joint names** corresponding to the robot description (URDF or .xacro). +* **IP address** and **port** corresponding to the RSI setup specified in **ros_rsi_ethernet.xml**. + +We recommend that you copy the configuration files, edit the copies for your needs and use these files to create your own launch file. A template will be provided at a later time. However, at this time, have a look at `test_hardware_interface.launch`, `test_params.yaml`, `controller_joint_names.yaml` and `hardware_controllers.yaml` to achieve a working test-launch. + +In order to successfully launch the **kuka_rsi_hardware_interface** a parameter `robot_description` needs to be present on the ROS parameter server. This parameter can be set manually or by adding this line inside the launch file (replace support package and .xacro to match your application): + +``` + +``` + +Make sure that the line is added before the `kuka_hardware_interface` itself is loaded. + +## 4. Testing + +At this point you are ready to test the RSI interface. Before the test, make sure that: + +* You have specified the `rsi/listen_address` and `rsi/listen_port` of the **kuka_rsi_hardware_interface** to correspond with the KRL files on the controller. +* You have a launch-file loading the network parameters, robot description, kuka_hardware_interface, hardware controller and controller joint names. + +The next steps describe how to launch the test file: + +* In a new terminal: + +``` +$ roscore +``` + +* Open a new terminal and roslaunch the previously configured launch-file: + +``` +$ roslaunch kuka_rsi_hw_interface test_hardware_interface.launch sim:=false +``` + +The **kuka_rsi_hardware_interface** is now waiting for the robot controller to connect. Follow the next steps to connect RSI: + +1. On the teach pad, enter mode **T1** for testing purposes. +2. Navigate to `KRC:\R1\Program` and select `ros_rsi.src`. +3. Press and hold an enabling switch and the run/play-button. The robot will first move to the start position. + * A message like **Programmed path reached (BCO)** will be shown at the teach pad. +4. Press and hold again. The teach pad will post a warning **!!!Attention –RSI sensor mode active!!!**. +5. Confirm the warning and press and hold the buttons again. This time the terminal where **kuka_rsi_hardware_interface** is running should output **Got connection from robot**. The RSI connection is now up and running. +6. In a new terminal: + +``` +$ rosrun rqt_joint_trajectory_controller rqt_joint_trajectory_controller +``` + +Choose **controller manager ns** and **controller** and you should be able to move each robot joint. + +* Note that T1-mode limits the robot movement velocity and is intended for testing purposes. + +## 4. Troubleshooting + +### + + +### Late packages + +From the Ethernet RSI XML manual: + +> A data packet received by the external system must be answered within approx. +> 10 ms. If the data packet is not received by the robot controller within this +> period, the response is classified as too late. When the maximum number of +> external data packets for which a response has been sent too late has been +> exceeded, the robot interprets this as an error and stops + +If you have problems with the connection to RSI shutting down now and then while moving the robot it is suggested to: +* Compile and install a [RT-Preempt](https://rt.wiki.kernel.org/index.php/RT_PREEMPT_HOWTO) kernel for your PC. +* Give **kuka_rsi_hardware_interface** on your PC real-time priority when the RSI connection is established. + + From 67d8eb98078adb5acfa9bfb275a126c0a11e458d Mon Sep 17 00:00:00 2001 From: Ivar Eriksen Date: Tue, 18 Oct 2016 14:50:11 +0200 Subject: [PATCH 28/56] Drop first package recieved from robot --- kuka_rsi_hw_interface/src/kuka_hardware_interface.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/kuka_rsi_hw_interface/src/kuka_hardware_interface.cpp b/kuka_rsi_hw_interface/src/kuka_hardware_interface.cpp index a326bb141..ef5ee4d6d 100644 --- a/kuka_rsi_hw_interface/src/kuka_hardware_interface.cpp +++ b/kuka_rsi_hw_interface/src/kuka_hardware_interface.cpp @@ -137,6 +137,9 @@ void KukaHardwareInterface::start() int bytes = server_->recv(in_buffer_); + // rsi 2.3: First pacakge only contains and elements, discard it + bytes = server_->recv(in_buffer_); + rsi_state_ = RSIState(in_buffer_); for (std::size_t i = 0; i < n_dof_; ++i) { From 5fc32122e1603984076d29b48f5b77302b8b9ad8 Mon Sep 17 00:00:00 2001 From: Ivar Eriksen Date: Wed, 19 Oct 2016 00:23:03 +0200 Subject: [PATCH 29/56] Tested and working --- kuka_rsi_hw_interface/krl/KR_C2/README.md | 18 +-- kuka_rsi_hw_interface/krl/KR_C2/ros_rsi.src | 103 ++++++++++++++++++ .../krl/KR_C2/ros_rsi_ethernet.xml | 33 ++++++ 3 files changed, 147 insertions(+), 7 deletions(-) create mode 100644 kuka_rsi_hw_interface/krl/KR_C2/ros_rsi.src create mode 100644 kuka_rsi_hw_interface/krl/KR_C2/ros_rsi_ethernet.xml diff --git a/kuka_rsi_hw_interface/krl/KR_C2/README.md b/kuka_rsi_hw_interface/krl/KR_C2/README.md index e16b2b990..58b421e2a 100644 --- a/kuka_rsi_hw_interface/krl/KR_C2/README.md +++ b/kuka_rsi_hw_interface/krl/KR_C2/README.md @@ -5,8 +5,10 @@ This guide highlights the steps needed in order to successfully configure the ** ## 1. Controller network configuration Controller setup is described in chapter 4 of the **KUKA.Ethernet RSI XML 1.1** manual. -Make sure the not to use the `192.0.1.x` IP range for the controller or PC. +Both **EthernetRSIXML** and **RSI** packages must be installed. This can be verified in the *InstallTech* window (`Setup->9 Install additional Software` on the KCP) + +Make sure the not to use the `192.0.1.x` IP range for the controller or PC. From the Ethernet RSI XML manual: > The IP address range 192.0.1.x is reserved and is disabled for applications. @@ -30,13 +32,13 @@ Note that the `rsi/listen_address` and `rsi/listen_port` parameters of the `kuka ##### ros_rsi.src -This should only be edited if the start position specified within the file is not desirable for your application. +This should only be edited if the start position or max joint movements specified within the file is not desirable for your application. These variables are inside the Configuration fold. ##### Copy files to controller -1. Copy the `ros_rsi.src` file to `KRC:\R1\Program`. -2. Copy the `ros_rsi_ethernet.xml` file to `C:\KRC\ROBOTER\Init`. +1. Copy the `ros_rsi.src` file to `KRC:\R1\Program` (Alternatively `C:\KRC\ROBOTER\KRC\R1\Program`) +2. Copy the `ros_rsi_ethernet.xml` file to `C:\KRC\ROBOTER\Init` ## 3. Configure the kuka_rsi_hw_interface @@ -96,12 +98,14 @@ Choose **controller manager ns** and **controller** and you should be able to mo ## 4. Troubleshooting -### +### RSI: Error in function +Problems establishing connection between robot or PC. Check IP, port and that the **kuka_rsi_hardware_interface** is running on the PC. May also come from malformed XML in ros_rsi_ethernet.xml -### Late packages + +### SEN: RSI execution error - RSI stopped -From the Ethernet RSI XML manual: +Most likely due to late packages. From the Ethernet RSI XML manual: > A data packet received by the external system must be answered within approx. > 10 ms. If the data packet is not received by the robot controller within this diff --git a/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi.src b/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi.src new file mode 100644 index 000000000..39f7ca170 --- /dev/null +++ b/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi.src @@ -0,0 +1,103 @@ +&ACCESS RVP +&REL 54 +&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe +&PARAM EDITMASK = * +DEF ros_rsi( ) + + +; FOLD VAR DECLARATION + CHAR configFileName[21] ;ST_ETHERNET object configuration file + DECL RSIERR err ;Error value from RSI commands + REAL lowerBound, upperBound ;Bounds for motion control + INT i ;Counter variable used in for-loops + DECL AXIS HOME ; HOME position + INT containerID, hEthernet, hAxis, numAxes ;Container IDs +; ENDFOLD VAR DECLARATION + +;FOLD INI + ;FOLD BASISTECH INI + GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( ) + INTERRUPT ON 3 + BAS (#INITMOV,0 ) + ;ENDFOLD (BASISTECH INI) + ;FOLD USER INI + ;Make your modifications here + + ;ENDFOLD (USER INI) +;ENDFOLD (INI) + +;FOLD Configuration + numAxes = 6 ; Number of axes on robot + HOME = {AXIS: A1 90, A2 -90, A3 90, A4 0, A5 0, A6 0} ; Start position + configFileName[] = "ros_rsi_ethernet.xml" ; Name of XML file. Should be in c:/krc/roboter/init + lowerBound = -100 ; lower limit axis correction + upperBound = 100 ; upper limit axis correction +;ENDFOLD Configuration + + +; Move to start position +PTP $AXIS_ACT ; Be able to use PTP without all axes in HOME +PTP HOME + +; Create RSI Ethernet object +containerID = 0 +err = ST_ETHERNET(hEthernet,containerID,configFileName[]) +IF (err <> #RSIOK) THEN + HALT +ENDIF + +; Object for axis correction. +err = ST_AXISCORR(hAxis, containerID) +IF (err <> #RSIOK) THEN + HALT +ENDIF + +; Link axis correction objects from XML file +for i=1 TO numAxes + err = ST_NEWLINK(hEthernet,i,hAxis,i) + IF err<>#RSIOK THEN + HALT + ENDIF +ENDFOR + +; Set integration mode (0 absolute, 1 relative) +err = ST_SETPARAM(hAxis,1,0) +IF err<>#RSIOK THEN + HALT +ENDIF + +; Set lowerBound axis correction +for i=2 TO numAxes+1 + err = ST_SETPARAM(hAxis,i,lowerBound); + IF err<>#RSIOK THEN + HALT + ENDIF +ENDFOR + +; Set upperBound axis correction +for i=14 TO numAxes+13 + err = ST_SETPARAM(hAxis,i,upperBound); + IF err<>#RSIOK THEN + HALT + ENDIF +ENDFOR + +; Start RSI execution +err = ST_ON() +IF (err <> #RSIOK) THEN + HALT +ENDIF + +; Runs untill RSI break +ST_SKIPSENS() + +; Turn off RSI +err = ST_OFF() +IF (err <> #RSIOK) THEN + HALT +ENDIF + +; Go back to home position +; PTP HOME + +END diff --git a/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi_ethernet.xml b/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi_ethernet.xml new file mode 100644 index 000000000..aecaee904 --- /dev/null +++ b/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi_ethernet.xml @@ -0,0 +1,33 @@ + + + 10.0.0.200 + 49152 + UDP + ImFree + FALSE + + + + + + + + + + + + + + + + + + + + + + + + + + From 36f50ae6682ad3da17c540e2e43bcf040714081d Mon Sep 17 00:00:00 2001 From: Ivar Eriksen Date: Wed, 19 Oct 2016 08:27:17 +0200 Subject: [PATCH 30/56] RSI 2.3: First frame is empty frame, drop it --- kuka_rsi_hw_interface/src/kuka_hardware_interface.cpp | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/kuka_rsi_hw_interface/src/kuka_hardware_interface.cpp b/kuka_rsi_hw_interface/src/kuka_hardware_interface.cpp index ef5ee4d6d..e62ddec13 100644 --- a/kuka_rsi_hw_interface/src/kuka_hardware_interface.cpp +++ b/kuka_rsi_hw_interface/src/kuka_hardware_interface.cpp @@ -137,8 +137,11 @@ void KukaHardwareInterface::start() int bytes = server_->recv(in_buffer_); - // rsi 2.3: First pacakge only contains and elements, discard it - bytes = server_->recv(in_buffer_); + // Drop empty frame with RSI <= 2.3 + if (bytes < 100) + { + bytes = server_->recv(in_buffer_); + } rsi_state_ = RSIState(in_buffer_); for (std::size_t i = 0; i < n_dof_; ++i) From c2487748476134bd7636b3a880a5ba0e6d33de80 Mon Sep 17 00:00:00 2001 From: Ivar Eriksen Date: Wed, 19 Oct 2016 14:05:02 +0200 Subject: [PATCH 31/56] Set individual axis limits --- kuka_rsi_hw_interface/krl/KR_C2/ros_rsi.src | 39 ++++++++++++++++++--- 1 file changed, 34 insertions(+), 5 deletions(-) diff --git a/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi.src b/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi.src index 39f7ca170..5b5e8416e 100644 --- a/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi.src +++ b/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi.src @@ -8,7 +8,7 @@ DEF ros_rsi( ) ; FOLD VAR DECLARATION CHAR configFileName[21] ;ST_ETHERNET object configuration file DECL RSIERR err ;Error value from RSI commands - REAL lowerBound, upperBound ;Bounds for motion control + REAL lowerBound[12], upperBound[12] ;Bounds for motion control INT i ;Counter variable used in for-loops DECL AXIS HOME ; HOME position INT containerID, hEthernet, hAxis, numAxes ;Container IDs @@ -30,8 +30,37 @@ DEF ros_rsi( ) numAxes = 6 ; Number of axes on robot HOME = {AXIS: A1 90, A2 -90, A3 90, A4 0, A5 0, A6 0} ; Start position configFileName[] = "ros_rsi_ethernet.xml" ; Name of XML file. Should be in c:/krc/roboter/init - lowerBound = -100 ; lower limit axis correction - upperBound = 100 ; upper limit axis correction + + ; Internal axes + lowerBound[1] = -100 ; lower limit A1 axis correction + upperBound[1] = 100 ; upper limit A1 axis correction + lowerBound[2] = -100 ; lower limit A2 axis correction + upperBound[2] = 100 ; upper limit A2 axis correction + lowerBound[3] = -100 ; lower limit A3 axis correction + upperBound[3] = 100 ; upper limit A3 axis correction + lowerBound[4] = -100 ; lower limit A4 axis correction + upperBound[4] = 100 ; upper limit A4 axis correction + lowerBound[5] = -100 ; lower limit A5 axis correction + upperBound[5] = 100 ; upper limit A5 axis correction + lowerBound[6] = -100 ; lower limit A6 axis correction + upperBound[6] = 100 ; upper limit A6 axis correction + + ; External axes + lowerBound[7] = -100 ; lower limit E1 axis correction + upperBound[7] = 100 ; upper limit E1 axis correction + lowerBound[8] = -100 ; lower limit E2 axis correction + upperBound[8] = 100 ; upper limit E2 axis correction + lowerBound[9] = -100 ; lower limit E3 axis correction + upperBound[9] = 100 ; upper limit E3 axis correction + lowerBound[10] = -100 ; lower limit E4 axis correction + upperBound[10] = 100 ; upper limit E4 axis correction + lowerBound[11] = -100 ; lower limit E5 axis correction + upperBound[11] = 100 ; upper limit E5 axis correction + lowerBound[12] = -100 ; lower limit E6 axis correction + upperBound[12] = 100 ; upper limit E6 axis correction + + + ;ENDFOLD Configuration @@ -68,7 +97,7 @@ ENDIF ; Set lowerBound axis correction for i=2 TO numAxes+1 - err = ST_SETPARAM(hAxis,i,lowerBound); + err = ST_SETPARAM(hAxis,i,lowerBound[i-1]); IF err<>#RSIOK THEN HALT ENDIF @@ -76,7 +105,7 @@ ENDFOR ; Set upperBound axis correction for i=14 TO numAxes+13 - err = ST_SETPARAM(hAxis,i,upperBound); + err = ST_SETPARAM(hAxis,i,upperBound[i-13]); IF err<>#RSIOK THEN HALT ENDIF From 1caa45a40a29d3f29ce0a3a276d54779a969f464 Mon Sep 17 00:00:00 2001 From: Ivar Eriksen Date: Thu, 20 Oct 2016 15:48:52 +0200 Subject: [PATCH 32/56] Removed external axes from XML file --- kuka_rsi_hw_interface/krl/KR_C2/ros_rsi_ethernet.xml | 5 ----- 1 file changed, 5 deletions(-) diff --git a/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi_ethernet.xml b/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi_ethernet.xml index aecaee904..c7629cef1 100644 --- a/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi_ethernet.xml +++ b/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi_ethernet.xml @@ -12,8 +12,6 @@ - - @@ -25,9 +23,6 @@ - - - From c5abd91947ebadb4c1a9d1b1ed2b71388320229f Mon Sep 17 00:00:00 2001 From: Ivar Eriksen Date: Fri, 21 Oct 2016 13:07:13 +0200 Subject: [PATCH 33/56] Fixed info about RSI.XML package --- kuka_rsi_hw_interface/krl/KR_C2/README.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/kuka_rsi_hw_interface/krl/KR_C2/README.md b/kuka_rsi_hw_interface/krl/KR_C2/README.md index 58b421e2a..73364f49e 100644 --- a/kuka_rsi_hw_interface/krl/KR_C2/README.md +++ b/kuka_rsi_hw_interface/krl/KR_C2/README.md @@ -5,10 +5,10 @@ This guide highlights the steps needed in order to successfully configure the ** ## 1. Controller network configuration Controller setup is described in chapter 4 of the **KUKA.Ethernet RSI XML 1.1** manual. - -Both **EthernetRSIXML** and **RSI** packages must be installed. This can be verified in the *InstallTech* window (`Setup->9 Install additional Software` on the KCP) +**KUKA.RobotSensorInterface** package must be installed. Depending on the version of the **KUKA.RobotSensorInterface** package you might also need the **KUKA.Ethernet RSI XML**. This can be verified in the *InstallTech* window (`Setup -> 9 Install additional Software` on the KCP) Make sure the not to use the `192.0.1.x` IP range for the controller or PC. + From the Ethernet RSI XML manual: > The IP address range 192.0.1.x is reserved and is disabled for applications. @@ -96,7 +96,7 @@ Choose **controller manager ns** and **controller** and you should be able to mo * Note that T1-mode limits the robot movement velocity and is intended for testing purposes. -## 4. Troubleshooting +## 5. Troubleshooting ### RSI: Error in function From 6e342b458e11f3ab28fbbe3b2cb3783a89253f25 Mon Sep 17 00:00:00 2001 From: Ivar Eriksen Date: Tue, 29 Aug 2017 14:12:25 +0200 Subject: [PATCH 34/56] IP_NUMBER set to invalid address --- kuka_rsi_hw_interface/krl/KR_C2/ros_rsi_ethernet.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi_ethernet.xml b/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi_ethernet.xml index c7629cef1..f08b473dd 100644 --- a/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi_ethernet.xml +++ b/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi_ethernet.xml @@ -1,6 +1,6 @@ - 10.0.0.200 + ip.address.of.rospc 49152 UDP ImFree From 8230b2aca4924007d678987329bdde0da9ca227b Mon Sep 17 00:00:00 2001 From: Ivar Eriksen Date: Tue, 29 Aug 2017 14:13:25 +0200 Subject: [PATCH 35/56] Added license info --- kuka_rsi_hw_interface/krl/KR_C2/ros_rsi.src | 37 +++++++++++++++++++++ 1 file changed, 37 insertions(+) diff --git a/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi.src b/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi.src index 5b5e8416e..6524e6cbf 100644 --- a/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi.src +++ b/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi.src @@ -4,6 +4,43 @@ &PARAM EDITMASK = * DEF ros_rsi( ) +; ============================================= +; +; Software License Agreement (BSD License) +; +; Copyright (c) 2017 Norwegian University of Science and Technology +; All rights reserved. +; +; Redistribution and use in source and binary forms, with or without +; modification, are permitted provided that the following conditions +; are met: +; +; * Redistributions of source code must retain the above copyright +; notice, this list of conditions and the following disclaimer. +; * Redistributions in binary form must reproduce the above +; copyright notice, this list of conditions and the following +; disclaimer in the documentation and/or other materials provided +; with the distribution. +; * Neither the name of the Norwegian University of Science and +; Technology, nor the names of its contributors may be used to +; endorse or promote products derived from this software without +; specific prior written permission. +; +; THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +; "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +; LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +; FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +; COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +; INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +; BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +; CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +; LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +; ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +; POSSIBILITY OF SUCH DAMAGE. +; +; ============================================= + ; FOLD VAR DECLARATION CHAR configFileName[21] ;ST_ETHERNET object configuration file From 91e14b4543af42539101e7f8df171bcce6b1c7fb Mon Sep 17 00:00:00 2001 From: Ivar Eriksen Date: Tue, 29 Aug 2017 14:16:18 +0200 Subject: [PATCH 36/56] Set start position to match the KR C4 version --- kuka_rsi_hw_interface/krl/KR_C2/ros_rsi.src | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi.src b/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi.src index 6524e6cbf..c8d384875 100644 --- a/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi.src +++ b/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi.src @@ -65,7 +65,7 @@ DEF ros_rsi( ) ;FOLD Configuration numAxes = 6 ; Number of axes on robot - HOME = {AXIS: A1 90, A2 -90, A3 90, A4 0, A5 0, A6 0} ; Start position + HOME = {AXIS: A1 0, A2 -90, A3 90, A4 0, A5 90, A6 0} ; Start position configFileName[] = "ros_rsi_ethernet.xml" ; Name of XML file. Should be in c:/krc/roboter/init ; Internal axes From 643ab81e4a8a03ba8cd57d0df0fdb85e871f1458 Mon Sep 17 00:00:00 2001 From: Ivar Eriksen Date: Tue, 29 Aug 2017 14:37:42 +0200 Subject: [PATCH 37/56] Moved files for KR C4 to it's own sub dir --- kuka_rsi_hw_interface/krl/{ => KR_C4}/README.md | 0 kuka_rsi_hw_interface/krl/{ => KR_C4}/ros_rsi.rsi | 0 kuka_rsi_hw_interface/krl/{ => KR_C4}/ros_rsi.rsi.diagram | 0 kuka_rsi_hw_interface/krl/{ => KR_C4}/ros_rsi.rsi.xml | 0 kuka_rsi_hw_interface/krl/{ => KR_C4}/ros_rsi.src | 0 kuka_rsi_hw_interface/krl/{ => KR_C4}/ros_rsi_ethernet.xml | 0 6 files changed, 0 insertions(+), 0 deletions(-) rename kuka_rsi_hw_interface/krl/{ => KR_C4}/README.md (100%) rename kuka_rsi_hw_interface/krl/{ => KR_C4}/ros_rsi.rsi (100%) rename kuka_rsi_hw_interface/krl/{ => KR_C4}/ros_rsi.rsi.diagram (100%) rename kuka_rsi_hw_interface/krl/{ => KR_C4}/ros_rsi.rsi.xml (100%) rename kuka_rsi_hw_interface/krl/{ => KR_C4}/ros_rsi.src (100%) rename kuka_rsi_hw_interface/krl/{ => KR_C4}/ros_rsi_ethernet.xml (100%) diff --git a/kuka_rsi_hw_interface/krl/README.md b/kuka_rsi_hw_interface/krl/KR_C4/README.md similarity index 100% rename from kuka_rsi_hw_interface/krl/README.md rename to kuka_rsi_hw_interface/krl/KR_C4/README.md diff --git a/kuka_rsi_hw_interface/krl/ros_rsi.rsi b/kuka_rsi_hw_interface/krl/KR_C4/ros_rsi.rsi similarity index 100% rename from kuka_rsi_hw_interface/krl/ros_rsi.rsi rename to kuka_rsi_hw_interface/krl/KR_C4/ros_rsi.rsi diff --git a/kuka_rsi_hw_interface/krl/ros_rsi.rsi.diagram b/kuka_rsi_hw_interface/krl/KR_C4/ros_rsi.rsi.diagram similarity index 100% rename from kuka_rsi_hw_interface/krl/ros_rsi.rsi.diagram rename to kuka_rsi_hw_interface/krl/KR_C4/ros_rsi.rsi.diagram diff --git a/kuka_rsi_hw_interface/krl/ros_rsi.rsi.xml b/kuka_rsi_hw_interface/krl/KR_C4/ros_rsi.rsi.xml similarity index 100% rename from kuka_rsi_hw_interface/krl/ros_rsi.rsi.xml rename to kuka_rsi_hw_interface/krl/KR_C4/ros_rsi.rsi.xml diff --git a/kuka_rsi_hw_interface/krl/ros_rsi.src b/kuka_rsi_hw_interface/krl/KR_C4/ros_rsi.src similarity index 100% rename from kuka_rsi_hw_interface/krl/ros_rsi.src rename to kuka_rsi_hw_interface/krl/KR_C4/ros_rsi.src diff --git a/kuka_rsi_hw_interface/krl/ros_rsi_ethernet.xml b/kuka_rsi_hw_interface/krl/KR_C4/ros_rsi_ethernet.xml similarity index 100% rename from kuka_rsi_hw_interface/krl/ros_rsi_ethernet.xml rename to kuka_rsi_hw_interface/krl/KR_C4/ros_rsi_ethernet.xml From 2e1fe4dd486c76c69751f5b40ca2e538bb859b7b Mon Sep 17 00:00:00 2001 From: Ivar Eriksen Date: Wed, 30 Aug 2017 15:48:22 +0200 Subject: [PATCH 38/56] Fixed comments for IP_NUMBER and PORT --- kuka_rsi_hw_interface/krl/KR_C2/ros_rsi_ethernet.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi_ethernet.xml b/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi_ethernet.xml index f08b473dd..e9edef3d2 100644 --- a/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi_ethernet.xml +++ b/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi_ethernet.xml @@ -1,7 +1,7 @@ - ip.address.of.rospc - 49152 + ip.address.of.rospc + 49152 UDP ImFree FALSE From c3cea0cab13d3529df4a8072e8ac463ba8f945c9 Mon Sep 17 00:00:00 2001 From: Ivar Eriksen Date: Wed, 30 Aug 2017 15:57:30 +0200 Subject: [PATCH 39/56] Added note regarding HMI. Better description for IP_NUMBER setting --- kuka_rsi_hw_interface/krl/KR_C2/README.md | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/kuka_rsi_hw_interface/krl/KR_C2/README.md b/kuka_rsi_hw_interface/krl/KR_C2/README.md index 73364f49e..fe3ed9f4f 100644 --- a/kuka_rsi_hw_interface/krl/KR_C2/README.md +++ b/kuka_rsi_hw_interface/krl/KR_C2/README.md @@ -25,7 +25,7 @@ The files included in this folder specifies the data transferred via RSI. Some o ##### ros_rsi_ethernet.xml -1. Edit the `IP_NUMBER` tag so that it corresponds to the IP address (192.168.1.xx) previously added for your PC. +1. Edit the `IP_NUMBER` tag so that it corresponds to the IP address of the PC running `kuka_rsi_hw_interface`. 2. Keep the `PORT` tag as it is (49152) or change it if you want to use another port. Note that the `rsi/listen_address` and `rsi/listen_port` parameters of the `kuka_rsi_hw_interface` must correspond to the `IP_NUMBER`and `PORT` set in these KRL files. @@ -40,6 +40,8 @@ This should only be edited if the start position or max joint movements specifie 1. Copy the `ros_rsi.src` file to `KRC:\R1\Program` (Alternatively `C:\KRC\ROBOTER\KRC\R1\Program`) 2. Copy the `ros_rsi_ethernet.xml` file to `C:\KRC\ROBOTER\Init` +Note: You must reload KSS or reboot the controller if `ros_rsi.src` is not created\copied using the HMI. + ## 3. Configure the kuka_rsi_hw_interface The **kuka_rsi_hardware_interface** needs to be configured in order to successfully communicate with RSI. Inside `/kuka_rsi_hw_interface/test` and `/kuka_rsi_hw_interface/config` in this repository is a set of `*.yaml` files. These configuration files may be loaded into a launch-file used to start the **kuka_rsi_hardware_interface** with correct parameters, such as: From a6a6839ae44c3c83186fb8ff072ea686cb42e472 Mon Sep 17 00:00:00 2001 From: Dennis Hartmann Date: Thu, 7 Sep 2017 09:40:42 +0200 Subject: [PATCH 40/56] Increased publish rate and added goal time constraint. --- kuka_rsi_hw_interface/config/hardware_controllers.yaml | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/kuka_rsi_hw_interface/config/hardware_controllers.yaml b/kuka_rsi_hw_interface/config/hardware_controllers.yaml index 991bb3c90..cbe290373 100644 --- a/kuka_rsi_hw_interface/config/hardware_controllers.yaml +++ b/kuka_rsi_hw_interface/config/hardware_controllers.yaml @@ -1,7 +1,7 @@ #Publish all joint states joint_state_controller: type: joint_state_controller/JointStateController - publish_rate: 50 + publish_rate: 250 # Joint trajectory controller position_trajectory_controller: @@ -14,5 +14,7 @@ position_trajectory_controller: - joint_a5 - joint_a6 - state_publish_rate: 50 # Defaults to 50 + state_publish_rate: 250 # Defaults to 50 action_monitor_rate: 20 # Defaults to 20 + constraints: + goal_time: 0.5 From a85eaa4330931c737bc4149fd12849d3b3d76665 Mon Sep 17 00:00:00 2001 From: Dennis Hartmann Date: Wed, 13 Dec 2017 15:15:25 +0100 Subject: [PATCH 41/56] Added support for KR150-2 --- kuka_kr150_support/CMakeLists.txt | 15 + .../config/joint_names_kr150.yaml | 1 + kuka_kr150_support/launch/load_kr150_2.launch | 5 + kuka_kr150_support/launch/test_kr150_2.launch | 9 + .../meshes/kr150_2/collision/base_link.stl | Bin 0 -> 24584 bytes .../meshes/kr150_2/collision/link_1.stl | Bin 0 -> 164684 bytes .../meshes/kr150_2/collision/link_2.stl | Bin 0 -> 35284 bytes .../meshes/kr150_2/collision/link_3.stl | Bin 0 -> 23584 bytes .../meshes/kr150_2/collision/link_4.stl | Bin 0 -> 36384 bytes .../meshes/kr150_2/collision/link_5.stl | Bin 0 -> 78784 bytes .../meshes/kr150_2/collision/link_6.stl | Bin 0 -> 7184 bytes .../meshes/kr150_2/visual/base_link.dae | 106 +++ .../meshes/kr150_2/visual/link_1.dae | 610 ++++++++++++++++++ .../meshes/kr150_2/visual/link_2.dae | 106 +++ .../meshes/kr150_2/visual/link_3.dae | 526 +++++++++++++++ .../meshes/kr150_2/visual/link_4.dae | 442 +++++++++++++ .../meshes/kr150_2/visual/link_5.dae | 106 +++ .../meshes/kr150_2/visual/link_6.dae | 106 +++ kuka_kr150_support/package.xml | 53 ++ kuka_kr150_support/test/roslaunch_test.xml | 9 + kuka_kr150_support/urdf/kr150_2.xacro | 5 + kuka_kr150_support/urdf/kr150_2_macro.xacro | 182 ++++++ 22 files changed, 2281 insertions(+) create mode 100644 kuka_kr150_support/CMakeLists.txt create mode 100644 kuka_kr150_support/config/joint_names_kr150.yaml create mode 100644 kuka_kr150_support/launch/load_kr150_2.launch create mode 100644 kuka_kr150_support/launch/test_kr150_2.launch create mode 100644 kuka_kr150_support/meshes/kr150_2/collision/base_link.stl create mode 100644 kuka_kr150_support/meshes/kr150_2/collision/link_1.stl create mode 100644 kuka_kr150_support/meshes/kr150_2/collision/link_2.stl create mode 100644 kuka_kr150_support/meshes/kr150_2/collision/link_3.stl create mode 100644 kuka_kr150_support/meshes/kr150_2/collision/link_4.stl create mode 100644 kuka_kr150_support/meshes/kr150_2/collision/link_5.stl create mode 100644 kuka_kr150_support/meshes/kr150_2/collision/link_6.stl create mode 100644 kuka_kr150_support/meshes/kr150_2/visual/base_link.dae create mode 100644 kuka_kr150_support/meshes/kr150_2/visual/link_1.dae create mode 100644 kuka_kr150_support/meshes/kr150_2/visual/link_2.dae create mode 100644 kuka_kr150_support/meshes/kr150_2/visual/link_3.dae create mode 100644 kuka_kr150_support/meshes/kr150_2/visual/link_4.dae create mode 100644 kuka_kr150_support/meshes/kr150_2/visual/link_5.dae create mode 100644 kuka_kr150_support/meshes/kr150_2/visual/link_6.dae create mode 100644 kuka_kr150_support/package.xml create mode 100644 kuka_kr150_support/test/roslaunch_test.xml create mode 100644 kuka_kr150_support/urdf/kr150_2.xacro create mode 100644 kuka_kr150_support/urdf/kr150_2_macro.xacro diff --git a/kuka_kr150_support/CMakeLists.txt b/kuka_kr150_support/CMakeLists.txt new file mode 100644 index 000000000..a7841a2a5 --- /dev/null +++ b/kuka_kr150_support/CMakeLists.txt @@ -0,0 +1,15 @@ +cmake_minimum_required(VERSION 2.8.3) + +project(kuka_kr150_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}) diff --git a/kuka_kr150_support/config/joint_names_kr150.yaml b/kuka_kr150_support/config/joint_names_kr150.yaml new file mode 100644 index 000000000..1a23ced85 --- /dev/null +++ b/kuka_kr150_support/config/joint_names_kr150.yaml @@ -0,0 +1 @@ +controller_joint_names: ['joint_a1', 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8567 4240 8567 4239 8567 141 8568 76 8568 4239 8568 141 8569 4239 8569 4246 8569 139 8570 141 8570 4246 8570 139 8571 4246 8571 4245 8571 51 8572 47 8572 55 8572 72 8573 70 8573 65 8573 45 8574 53 8574 50 8574 3 8575 2 8575 72 8575 41 8576 61 8576 57 8576 41 8577 57 8577 53 8577 41 8578 53 8578 45 8578 5 8579 3 8579 72 8579 7 8580 5 8580 72 8580 33 8581 65 8581 61 8581 33 8582 41 8582 37 8582 33 8583 72 8583 65 8583 33 8584 61 8584 41 8584 33 8585 7 8585 72 8585 29 8586 7 8586 33 8586 19 8587 17 8587 13 8587 23 8588 13 8588 7 8588 23 8589 7 8589 29 8589 23 8590 19 8590 13 8590 11 8591 29 8591 25 8591 11 8592 25 8592 21 8592 11 8593 21 8593 15 8593 35 8594 31 8594 27 8594 63 8595 10 8595 67 8595 63 8596 11 8596 10 8596 63 8597 23 8597 29 8597 63 8598 29 8598 11 8598 43 8599 39 8599 35 8599 47 8600 35 8600 27 8600 47 8601 43 8601 35 8601 55 8602 23 8602 63 8602 55 8603 63 8603 59 8603 55 8604 47 8604 27 8604 55 8605 27 8605 23 8605

    +     +     +     +     + + + + + + + + + + + + + + + + + + + + + +     diff --git a/kuka_kr150_support/package.xml b/kuka_kr150_support/package.xml new file mode 100644 index 000000000..f8fd39797 --- /dev/null +++ b/kuka_kr150_support/package.xml @@ -0,0 +1,53 @@ + + + kuka_kr150_support + 0.1.0 + +

    + ROS-Industrial support for the KUKA KR150-2 (and variants). +

    +

    + This package contains configuration data, 3D models and launch files + for KUKA KR 150-2 manipulators. This currently includes the KR 150-2 only. +

    +

    Specifications:

    +
      +
    • KR 150-2 - Default
      • +
    +

    + Joint limits and maximum joint velocities are based on the information + found in the online datasheet here. All urdfs are based on the default motion and joint velocity limits, + unless noted otherwise. +

    +

    + 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. +

    +

    + NB: this package currently uses non-valid inertia parameters. +

    + + Dennis Hartmann + Dennis Hartmann (KIT, IAR-IPR) + G.A. vd. Hoorn (TU Delft Robotics Institute) + BSD + + http://wiki.ros.org/kuka_kr150_support + https://github.com/ros-industrial/kuka_experimental/issues + https://github.com/ros-industrial/kuka_experimental + + catkin + + roslaunch + + industrial_robot_client + joint_state_publisher + robot_state_publisher + rviz + xacro + + + + + diff --git a/kuka_kr150_support/test/roslaunch_test.xml b/kuka_kr150_support/test/roslaunch_test.xml new file mode 100644 index 000000000..b5ab4a60a --- /dev/null +++ b/kuka_kr150_support/test/roslaunch_test.xml @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/kuka_kr150_support/urdf/kr150_2.xacro b/kuka_kr150_support/urdf/kr150_2.xacro new file mode 100644 index 000000000..66f8aafbb --- /dev/null +++ b/kuka_kr150_support/urdf/kr150_2.xacro @@ -0,0 +1,5 @@ + + + + + diff --git a/kuka_kr150_support/urdf/kr150_2_macro.xacro b/kuka_kr150_support/urdf/kr150_2_macro.xacro new file mode 100644 index 000000000..3715aa551 --- /dev/null +++ b/kuka_kr150_support/urdf/kr150_2_macro.xacro @@ -0,0 +1,182 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 519524303073052bf8b9cc3edcd71eff21579139 Mon Sep 17 00:00:00 2001 From: Dennis Hartmann Date: Wed, 14 Mar 2018 16:39:46 +0100 Subject: [PATCH 42/56] rsi_hw_interface: set holdon to 1 to prevent late packets from crashing rsi connection --- kuka_rsi_hw_interface/krl/KR_C2/ros_rsi_ethernet.xml | 12 ++++++------ kuka_rsi_hw_interface/krl/KR_C4/ros_rsi_ethernet.xml | 12 ++++++------ 2 files changed, 12 insertions(+), 12 deletions(-) diff --git a/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi_ethernet.xml b/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi_ethernet.xml index e9edef3d2..531e44926 100644 --- a/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi_ethernet.xml +++ b/kuka_rsi_hw_interface/krl/KR_C2/ros_rsi_ethernet.xml @@ -17,12 +17,12 @@ - - - - - - + + + + + + diff --git a/kuka_rsi_hw_interface/krl/KR_C4/ros_rsi_ethernet.xml b/kuka_rsi_hw_interface/krl/KR_C4/ros_rsi_ethernet.xml index b2b5ab6d3..806e89a90 100644 --- a/kuka_rsi_hw_interface/krl/KR_C4/ros_rsi_ethernet.xml +++ b/kuka_rsi_hw_interface/krl/KR_C4/ros_rsi_ethernet.xml @@ -23,12 +23,12 @@ - - - - - - + + + + + + From 1b8062c4af8120557c63650f1e4458c7967237e4 Mon Sep 17 00:00:00 2001 From: Dennis Hartmann Date: Wed, 21 Mar 2018 14:51:36 +0100 Subject: [PATCH 43/56] Publish as fast as possible --- kuka_rsi_hw_interface/config/hardware_controllers.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/kuka_rsi_hw_interface/config/hardware_controllers.yaml b/kuka_rsi_hw_interface/config/hardware_controllers.yaml index 991bb3c90..d1ff48463 100644 --- a/kuka_rsi_hw_interface/config/hardware_controllers.yaml +++ b/kuka_rsi_hw_interface/config/hardware_controllers.yaml @@ -1,7 +1,7 @@ #Publish all joint states joint_state_controller: type: joint_state_controller/JointStateController - publish_rate: 50 + publish_rate: 1000 # Joint trajectory controller position_trajectory_controller: @@ -14,5 +14,5 @@ position_trajectory_controller: - joint_a5 - joint_a6 - state_publish_rate: 50 # Defaults to 50 + state_publish_rate: 1000 # Defaults to 50 action_monitor_rate: 20 # Defaults to 20 From 1821df252736c3a88dfe1cd62f124d3aefe7276b Mon Sep 17 00:00:00 2001 From: IIROB Praktikum 3 Date: Mon, 18 Jun 2018 15:38:10 +0200 Subject: [PATCH 44/56] Added FTS interface for Force-Torque-Control --- kuka_rsi_hw_interface/CMakeLists.txt | 18 +++ .../kuka_hardware_interface.h | 7 +- .../kuka_hardware_interface_with_fts.h | 34 ++++ kuka_rsi_hw_interface/package.xml | 3 + .../src/kuka_hardware_interface.cpp | 71 +++++---- .../src/kuka_hardware_interface_node.cpp | 145 +++++++++++++----- .../src/kuka_hardware_interface_with_fts.cpp | 47 ++++++ 7 files changed, 251 insertions(+), 74 deletions(-) create mode 100644 kuka_rsi_hw_interface/include/kuka_rsi_hw_interface/kuka_hardware_interface_with_fts.h create mode 100644 kuka_rsi_hw_interface/src/kuka_hardware_interface_with_fts.cpp diff --git a/kuka_rsi_hw_interface/CMakeLists.txt b/kuka_rsi_hw_interface/CMakeLists.txt index e6e722572..6005c7d3f 100644 --- a/kuka_rsi_hw_interface/CMakeLists.txt +++ b/kuka_rsi_hw_interface/CMakeLists.txt @@ -11,6 +11,9 @@ find_package(catkin REQUIRED COMPONENTS realtime_tools roscpp std_msgs + ati_force_torque + force_controllers + kdl_parser ) find_package(Boost REQUIRED COMPONENTS system) @@ -28,6 +31,8 @@ catkin_package( joint_limits_interface roscpp std_msgs + ati_force_torque + force_controllers DEPENDS TinyXML ) @@ -42,6 +47,10 @@ include_directories( add_library(kuka_hardware_interface src/kuka_hardware_interface.cpp +# src/kuka_hardware_interface_with_fts.cpp +) +add_library(kuka_hardware_interface_with_fts + src/kuka_hardware_interface_with_fts.cpp ) target_link_libraries(kuka_hardware_interface @@ -49,6 +58,12 @@ target_link_libraries(kuka_hardware_interface ${Boost_LIBRARIES} ${TinyXML_LIBRARIES} ) +target_link_libraries(kuka_hardware_interface_with_fts + ${catkin_LIBRARIES} + ${Boost_LIBRARIES} + ${TinyXML_LIBRARIES} + kuka_hardware_interface +) add_executable(kuka_hardware_interface_node src/kuka_hardware_interface_node.cpp @@ -56,11 +71,14 @@ add_executable(kuka_hardware_interface_node target_link_libraries(kuka_hardware_interface_node kuka_hardware_interface + kuka_hardware_interface_with_fts ) + install( TARGETS kuka_hardware_interface + kuka_hardware_interface_with_fts kuka_hardware_interface_node ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} diff --git a/kuka_rsi_hw_interface/include/kuka_rsi_hw_interface/kuka_hardware_interface.h b/kuka_rsi_hw_interface/include/kuka_rsi_hw_interface/kuka_hardware_interface.h index 4d46c8257..464249398 100644 --- a/kuka_rsi_hw_interface/include/kuka_rsi_hw_interface/kuka_hardware_interface.h +++ b/kuka_rsi_hw_interface/include/kuka_rsi_hw_interface/kuka_hardware_interface.h @@ -113,20 +113,23 @@ class KukaHardwareInterface : public hardware_interface::RobotHW ros::Duration control_period_; ros::Duration elapsed_time_; double loop_hz_; - +protected: // Interfaces hardware_interface::JointStateInterface joint_state_interface_; hardware_interface::PositionJointInterface position_joint_interface_; +// TODO + hardware_interface::VelocityJointInterface velocity_joint_interface_; public: - KukaHardwareInterface(); + KukaHardwareInterface(ros::NodeHandle nh); ~KukaHardwareInterface(); void start(); void configure(); bool read(const ros::Time time, const ros::Duration period); bool write(const ros::Time time, const ros::Duration period); +// virtual void handleInit(); }; diff --git a/kuka_rsi_hw_interface/include/kuka_rsi_hw_interface/kuka_hardware_interface_with_fts.h b/kuka_rsi_hw_interface/include/kuka_rsi_hw_interface/kuka_hardware_interface_with_fts.h new file mode 100644 index 000000000..72eb5e3aa --- /dev/null +++ b/kuka_rsi_hw_interface/include/kuka_rsi_hw_interface/kuka_hardware_interface_with_fts.h @@ -0,0 +1,34 @@ +#ifndef KUKA_RSI_HARDWARE_INTERFACE_WITH_FTS +#define KUKA_RSI_HARDWARE_INTERFACE_WITH_FTS + +#include +// #include +#include +#include +#include +#include +#include + +namespace kuka_rsi_hw_interface +{ + +class KukaHardwareInterfaceWithFTS : public KukaHardwareInterface +{ + force_torque_control::ForceTorqueControllerInterface ftc_interface_; +// ForceTorqueSensorHandle* ftsh_; + boost::shared_ptr ftsh_; + ros::NodeHandle nh_; + + std::string fts_name; + std::string fts_sensor_frame; + std::string fts_transform_frame; + +public: + KukaHardwareInterfaceWithFTS(ros::NodeHandle nh); +// ~KukaHardwareInterfaceWithFTS(); + + void handleInit(); +}; +} // namespace kuka_rsi_hw_interface + +#endif diff --git a/kuka_rsi_hw_interface/package.xml b/kuka_rsi_hw_interface/package.xml index 1e6547c56..edada090b 100644 --- a/kuka_rsi_hw_interface/package.xml +++ b/kuka_rsi_hw_interface/package.xml @@ -22,4 +22,7 @@ realtime_tools roscpp std_msgs + ati_force_torque + force_controllers + kdl_parser diff --git a/kuka_rsi_hw_interface/src/kuka_hardware_interface.cpp b/kuka_rsi_hw_interface/src/kuka_hardware_interface.cpp index 908f7bf0b..e0d3277d4 100644 --- a/kuka_rsi_hw_interface/src/kuka_hardware_interface.cpp +++ b/kuka_rsi_hw_interface/src/kuka_hardware_interface.cpp @@ -45,43 +45,51 @@ namespace kuka_rsi_hw_interface { -KukaHardwareInterface::KukaHardwareInterface() : +KukaHardwareInterface::KukaHardwareInterface(ros::NodeHandle nh) : joint_position_(6, 0.0), joint_position_last_(6, 0.0), joint_velocity_(6, 0.0), joint_effort_(6, 0.0), joint_position_command_(6, 0.0), joint_velocity_command_(6, 0.0), joint_effort_command_(6, 0.0), joint_names_(6), rsi_initial_joint_positions_(6, 0.0), rsi_joint_position_corrections_(6, 0.0), ipoc_(0), n_dof_(6) { - in_buffer_.resize(1024); - out_buffer_.resize(1024); - remote_host_.resize(1024); - remote_port_.resize(1024); + nh_ = nh; + in_buffer_.resize(1024); + out_buffer_.resize(1024); + remote_host_.resize(1024); + remote_port_.resize(1024); - if (!nh_.getParam("controller_joint_names", joint_names_)) - { - ROS_ERROR("Cannot find required parameter 'controller_joint_names' " - "on the parameter server."); - throw std::runtime_error("Cannot find required parameter " - "'controller_joint_names' on the parameter server."); - } + if (!nh_.getParam("controller_joint_names", joint_names_)) + { + ROS_ERROR("Cannot find required parameter 'controller_joint_names' " + "on the parameter server."); + throw std::runtime_error("Cannot find required parameter " + "'controller_joint_names' on the parameter server."); + } - //Create ros_control interfaces - for (std::size_t i = 0; i < n_dof_; ++i) - { - // Create joint state interface for all joints - joint_state_interface_.registerHandle( - hardware_interface::JointStateHandle(joint_names_[i], &joint_position_[i], &joint_velocity_[i], - &joint_effort_[i])); - - // Create joint position control interface - position_joint_interface_.registerHandle( - hardware_interface::JointHandle(joint_state_interface_.getHandle(joint_names_[i]), - &joint_position_command_[i])); - } + //Create ros_control interfaces + for (std::size_t i = 0; i < n_dof_; ++i) + { + // Create joint state interface for all joints + joint_state_interface_.registerHandle( + hardware_interface::JointStateHandle(joint_names_[i], &joint_position_[i], &joint_velocity_[i], + &joint_effort_[i])); + + // Create joint position control interface + position_joint_interface_.registerHandle( + hardware_interface::JointHandle(joint_state_interface_.getHandle(joint_names_[i]), + &joint_position_command_[i])); + + // TODO Create joint velocity control interface + velocity_joint_interface_.registerHandle( + hardware_interface::JointHandle(joint_state_interface_.getHandle(joint_names_[i]), + &joint_velocity_command_[i])); + } - // Register interfaces - registerInterface(&joint_state_interface_); - registerInterface(&position_joint_interface_); + // Register interfaces + registerInterface(&joint_state_interface_); + registerInterface(&position_joint_interface_); + // TODO + registerInterface(&velocity_joint_interface_); - ROS_INFO_STREAM_NAMED("hardware_interface", "Loaded kuka_rsi_hardware_interface"); + ROS_INFO_STREAM_NAMED("hardware_interface", "Loaded kuka_rsi_hardware_interface"); } KukaHardwareInterface::~KukaHardwareInterface() @@ -147,7 +155,7 @@ void KukaHardwareInterface::start() { bytes = server_->recv(in_buffer_); } - + rsi_state_ = RSIState(in_buffer_); for (std::size_t i = 0; i < n_dof_; ++i) { @@ -177,6 +185,7 @@ void KukaHardwareInterface::configure() throw std::runtime_error("Failed to get RSI listen address or listen port from parameter server."); } rt_rsi_pub_.reset(new realtime_tools::RealtimePublisher(nh_, "rsi_xml_doc", 3)); -} + } +// void handleInit(){}; } // namespace kuka_rsi_hardware_interface diff --git a/kuka_rsi_hw_interface/src/kuka_hardware_interface_node.cpp b/kuka_rsi_hw_interface/src/kuka_hardware_interface_node.cpp index 7729c6476..441f261b9 100644 --- a/kuka_rsi_hw_interface/src/kuka_hardware_interface_node.cpp +++ b/kuka_rsi_hw_interface/src/kuka_hardware_interface_node.cpp @@ -37,65 +37,128 @@ * Author: Lars Tingelstad */ +#include #include +#include +#include +#include -int main(int argc, char** argv) -{ - ROS_INFO_STREAM_NAMED("hardware_interface", "Starting hardware interface..."); +boost::shared_ptr kuka_rsi_hwi_; +boost::shared_ptr controller_manager_; - ros::init(argc, argv, "kuka_rsi_hardware_interface"); +ros::Time timestamp_; +ros::Duration period_; +auto stopwatch_last_ = std::chrono::steady_clock::now(); +auto stopwatch_now_ = std::chrono::steady_clock::now(); + +void updateRSIData(const ros::TimerEvent& event) +{ - ros::AsyncSpinner spinner(1); - spinner.start(); + // Receive current state from robot + if (!kuka_rsi_hwi_->read(timestamp_, period_)) + { + ROS_FATAL_NAMED("kuka_hardware_interface", "Failed to read state from robot. Shutting down!"); + ros::shutdown(); + } + + // Get current time and elapsed time since last read + timestamp_ = ros::Time::now(); + stopwatch_now_ = std::chrono::steady_clock::now(); + period_.fromSec(std::chrono::duration_cast>(stopwatch_now_ - stopwatch_last_).count()); + stopwatch_last_ = stopwatch_now_; - ros::NodeHandle nh; + // Update the controllers + controller_manager_->update(timestamp_, period_); - kuka_rsi_hw_interface::KukaHardwareInterface kuka_rsi_hw_interface; - kuka_rsi_hw_interface.configure(); + // Send new setpoint to robot + kuka_rsi_hwi_->write(timestamp_, period_); +} - // Set up timers - ros::Time timestamp; - ros::Duration period; - auto stopwatch_last = std::chrono::steady_clock::now(); - auto stopwatch_now = stopwatch_last; - controller_manager::ControllerManager controller_manager(&kuka_rsi_hw_interface, nh); +int main(int argc, char** argv) +{ + ROS_INFO_STREAM_NAMED("hardware_interface", "Starting hardware interface..."); - kuka_rsi_hw_interface.start(); + ros::init(argc, argv, "kuka_rsi_hardware_interface"); - // Get current time and elapsed time since last read - timestamp = ros::Time::now(); - stopwatch_now = std::chrono::steady_clock::now(); - period.fromSec(std::chrono::duration_cast>(stopwatch_now - stopwatch_last).count()); - stopwatch_last = stopwatch_now; + ros::AsyncSpinner spinner(4); + spinner.start(); - // Run as fast as possible - while (ros::ok()) - //while (!g_quit) - { - // Receive current state from robot - if (!kuka_rsi_hw_interface.read(timestamp, period)) + ros::NodeHandle nh; + + bool kuka_fts; + + if (nh.getParam("kuka_fts", kuka_fts) and kuka_fts) { - ROS_FATAL_NAMED("kuka_hardware_interface", "Failed to read state from robot. Shutting down!"); - ros::shutdown(); + ROS_INFO_STREAM_NAMED("hardware_interface", "This is KUKA hardware interface with FTS!"); + kuka_rsi_hwi_.reset(new kuka_rsi_hw_interface::KukaHardwareInterfaceWithFTS(nh)); } + else + { + ROS_INFO_STREAM_NAMED("hardware_interface", "This is KUKA hardware interface without FTS!"); + kuka_rsi_hwi_.reset(new kuka_rsi_hw_interface::KukaHardwareInterface(nh)); + } + kuka_rsi_hwi_->configure(); + // Set up timers + ros::Time timestamp; + ros::Duration period; + auto stopwatch_last = std::chrono::steady_clock::now(); + auto stopwatch_now = stopwatch_last; + + // TODO: controller manager takes only hardware_interface::RobotHW* as arguments + controller_manager_.reset(new controller_manager::ControllerManager(kuka_rsi_hwi_.get(), nh)); + kuka_rsi_hwi_->start(); + ROS_WARN("kuka_rsi_hwi successfully started!"); // Get current time and elapsed time since last read timestamp = ros::Time::now(); stopwatch_now = std::chrono::steady_clock::now(); period.fromSec(std::chrono::duration_cast>(stopwatch_now - stopwatch_last).count()); stopwatch_last = stopwatch_now; - - // Update the controllers - controller_manager.update(timestamp, period); - - // Send new setpoint to robot - kuka_rsi_hw_interface.write(timestamp, period); - } - - spinner.stop(); - ROS_INFO_STREAM_NAMED("hardware_interface", "Shutting down."); - - return 0; + // time and elapsed time since last read + timestamp = ros::Time::now(); + stopwatch_now = std::chrono::steady_clock::now(); + period.fromSec(std::chrono::duration_cast>(stopwatch_now - stopwatch_last).count()); + stopwatch_last = stopwatch_now; + + // Get current time and elapsed time since last read + timestamp_ = ros::Time::now(); + stopwatch_now_ = std::chrono::steady_clock::now(); + period_.fromSec(std::chrono::duration_cast>(stopwatch_now_ - stopwatch_last_).count()); + stopwatch_last_ = stopwatch_now_; + + ros::Timer timer = nh.createTimer(ros::Duration(ros::Rate(1000)), updateRSIData); + + + +// // Run as fast as possible +// while (ros::ok()) +// //while (!g_quit) +// { +// // Receive current state from robot +// if (!kuka_rsi_hwi_->read(timestamp, period)) +// { +// ROS_FATAL_NAMED("kuka_hardware_interface", "Failed to read state from robot. Shutting down!"); +// ros::shutdown(); +// } +// +// // Get current time and elapsed time since last read +// timestamp = ros::Time::now(); +// stopwatch_now = std::chrono::steady_clock::now(); +// period.fromSec(std::chrono::duration_cast>(stopwatch_now - stopwatch_last).count()); +// stopwatch_last = stopwatch_now; +// +// // Update the controllers +// controller_manager.update(timestamp, period); +// +// // Send new setpoint to robot +// kuka_rsi_hwi_->write(timestamp, period); +// } + +// spinner.stop(); + ros::waitForShutdown(); + ROS_INFO_STREAM_NAMED("hardware_interface", "Shutting down."); + + return 0; } diff --git a/kuka_rsi_hw_interface/src/kuka_hardware_interface_with_fts.cpp b/kuka_rsi_hw_interface/src/kuka_hardware_interface_with_fts.cpp new file mode 100644 index 000000000..07b3404d0 --- /dev/null +++ b/kuka_rsi_hw_interface/src/kuka_hardware_interface_with_fts.cpp @@ -0,0 +1,47 @@ + + +#include + +namespace kuka_rsi_hw_interface +{ +KukaHardwareInterfaceWithFTS::KukaHardwareInterfaceWithFTS(ros::NodeHandle nh) : KukaHardwareInterface(nh) +{ + if( ros::console::set_logger_level(ROSCONSOLE_DEFAULT_NAME, ros::console::levels::Info) ) + ros::console::notifyLoggerLevelsChanged(); + nh_ = nh; + nh_.param("/fts/FTS/name", fts_name, "fts_sensor_name"); + nh_.param("/fts/Node/transform_frame", fts_transform_frame, "fts_base_link"); + ROS_DEBUG_STREAM("try to register the force torque controller interface to simulation env."); + registerInterface(&ftc_interface_); + ROS_DEBUG_STREAM("successfully registered force torque controller interface"); + + // create a robot handle for kr5, and attach the fake sensor handle + ROS_DEBUG_STREAM("creating ForceTorqueControllerHandle"); + force_torque_control::ForceTorqueControllerHandle handle("kr5_controller_handle"); + + ROS_DEBUG_STREAM("creating ForceTorqueSensorHandle"); + ftsh_.reset(new force_torque_sensor::ForceTorqueSensorHandle(nh_, fts_name, fts_transform_frame)); + ROS_INFO_STREAM("ForceTorqueSensorHandle created!"); + + handle.addHandle(*ftsh_); + ROS_INFO("force torque sensor handle added"); + + std::vector pos_names = position_joint_interface_.getNames(); + for(size_t i = 0; i < pos_names.size(); i ++) + handle.addPosHandle(position_joint_interface_.getHandle(pos_names[i])); + ROS_DEBUG_STREAM("add position handle"); +// TODO add velocity interface to kuka_hardware_interface.h + std::vector vel_names = velocity_joint_interface_.getNames(); + for(size_t i = 0; i < vel_names.size(); i ++) + handle.addVelHandle(velocity_joint_interface_.getHandle(vel_names[i])); + ROS_DEBUG_STREAM("add velocity handle"); +// // when effort interface is supported: uncomment +// std::vector eff_names = eff_interface_.getNames(); +// for(size_t i = 0; i < eff_names.size(); i ++) +// handle.addPosHandle(eff_interface_.getHandle(eff_names[i])); + + ftc_interface_.registerHandle(handle); + ROS_INFO("register handle to ftc interface"); +} + +} // namespace kuka_rsi_hw_interface From 9c80674df8a8db084a1249ef2ddd966f3c832c6a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Denis=20=C5=A0togl?= Date: Mon, 18 Jun 2018 16:31:27 +0200 Subject: [PATCH 45/56] Create .travis.rosinstall --- .travis.rosinstall | 13 +++++++++++++ 1 file changed, 13 insertions(+) create mode 100644 .travis.rosinstall diff --git a/.travis.rosinstall b/.travis.rosinstall new file mode 100644 index 000000000..19408c97c --- /dev/null +++ b/.travis.rosinstall @@ -0,0 +1,13 @@ +- git: + uri: 'https://github.com/iirob/iirob_filters.git' + local-name: iirob_filters + version: kinetic-devel +- git: + uri: 'https://github.com/iirob/rosparam_handler.git' + local-name: rosparam_handler + version: master +- git: + uri: 'https://github.com/KITrobotics/force_torque_sensor.git' + local-name: force_torque_sensor + version: kinetic-devel + From a38f984ff08d73be0c2eb289d20169424dfd3d60 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Denis=20=C5=A0togl?= Date: Mon, 18 Jun 2018 16:32:31 +0200 Subject: [PATCH 46/56] Update .travis.yml --- .travis.yml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/.travis.yml b/.travis.yml index 6a00b67cd..d68861ac0 100644 --- a/.travis.yml +++ b/.travis.yml @@ -10,6 +10,8 @@ notifications: on_failure: always env: + global: + - UPSTREAM_WORKSPACE=file matrix: - USE_DEB=true ROS_DISTRO="indigo" @@ -17,6 +19,7 @@ env: - USE_DEB=true ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu + - ROS_DISTRO="kinetic" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu install: - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config From 8d00e747f1d555a62155e4f6bc039d789b141c2d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Denis=20=C5=A0togl?= Date: Mon, 18 Jun 2018 16:43:00 +0200 Subject: [PATCH 47/56] Update kuka_hardware_interface_with_fts.h --- .../kuka_rsi_hw_interface/kuka_hardware_interface_with_fts.h | 2 -- 1 file changed, 2 deletions(-) diff --git a/kuka_rsi_hw_interface/include/kuka_rsi_hw_interface/kuka_hardware_interface_with_fts.h b/kuka_rsi_hw_interface/include/kuka_rsi_hw_interface/kuka_hardware_interface_with_fts.h index 72eb5e3aa..4c69fd732 100644 --- a/kuka_rsi_hw_interface/include/kuka_rsi_hw_interface/kuka_hardware_interface_with_fts.h +++ b/kuka_rsi_hw_interface/include/kuka_rsi_hw_interface/kuka_hardware_interface_with_fts.h @@ -1,8 +1,6 @@ #ifndef KUKA_RSI_HARDWARE_INTERFACE_WITH_FTS #define KUKA_RSI_HARDWARE_INTERFACE_WITH_FTS -#include -// #include #include #include #include From 397f49fb9b4fd91eaece32e68ed8876771caa726 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Denis=20=C5=A0togl?= Date: Mon, 18 Jun 2018 16:45:03 +0200 Subject: [PATCH 48/56] Update kuka_hardware_interface_with_fts.cpp --- kuka_rsi_hw_interface/src/kuka_hardware_interface_with_fts.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/kuka_rsi_hw_interface/src/kuka_hardware_interface_with_fts.cpp b/kuka_rsi_hw_interface/src/kuka_hardware_interface_with_fts.cpp index 07b3404d0..f5fd93e30 100644 --- a/kuka_rsi_hw_interface/src/kuka_hardware_interface_with_fts.cpp +++ b/kuka_rsi_hw_interface/src/kuka_hardware_interface_with_fts.cpp @@ -17,7 +17,7 @@ KukaHardwareInterfaceWithFTS::KukaHardwareInterfaceWithFTS(ros::NodeHandle nh) : // create a robot handle for kr5, and attach the fake sensor handle ROS_DEBUG_STREAM("creating ForceTorqueControllerHandle"); - force_torque_control::ForceTorqueControllerHandle handle("kr5_controller_handle"); + force_torque_control::ForceTorqueControllerHandle handle("kuka_fts_controller_handle"); ROS_DEBUG_STREAM("creating ForceTorqueSensorHandle"); ftsh_.reset(new force_torque_sensor::ForceTorqueSensorHandle(nh_, fts_name, fts_transform_frame)); From 9615202be6aa82103b19066b8cccf3c5096f6ead Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Denis=20=C5=A0togl?= Date: Mon, 18 Jun 2018 16:49:05 +0200 Subject: [PATCH 49/56] Update kuka_hardware_interface_with_fts.h --- .../kuka_rsi_hw_interface/kuka_hardware_interface_with_fts.h | 1 + 1 file changed, 1 insertion(+) diff --git a/kuka_rsi_hw_interface/include/kuka_rsi_hw_interface/kuka_hardware_interface_with_fts.h b/kuka_rsi_hw_interface/include/kuka_rsi_hw_interface/kuka_hardware_interface_with_fts.h index 4c69fd732..6855f58ba 100644 --- a/kuka_rsi_hw_interface/include/kuka_rsi_hw_interface/kuka_hardware_interface_with_fts.h +++ b/kuka_rsi_hw_interface/include/kuka_rsi_hw_interface/kuka_hardware_interface_with_fts.h @@ -1,6 +1,7 @@ #ifndef KUKA_RSI_HARDWARE_INTERFACE_WITH_FTS #define KUKA_RSI_HARDWARE_INTERFACE_WITH_FTS +#include #include #include #include From d0c53743fa7c4901fd32aeeb32181131ddf0ca6a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Denis=20=C5=A0togl?= Date: Mon, 18 Jun 2018 16:59:25 +0200 Subject: [PATCH 50/56] Update CMakeLists.txt --- kuka_rsi_hw_interface/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/kuka_rsi_hw_interface/CMakeLists.txt b/kuka_rsi_hw_interface/CMakeLists.txt index 3a39db3f1..6ea4681f8 100644 --- a/kuka_rsi_hw_interface/CMakeLists.txt +++ b/kuka_rsi_hw_interface/CMakeLists.txt @@ -31,7 +31,7 @@ catkin_package( joint_limits_interface roscpp std_msgs - ati_force_torque + force_torque_sensor force_controllers DEPENDS TinyXML From 3177ac9440c29e4c928534c55ae60041471d600b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Denis=20=C5=A0togl?= Date: Mon, 18 Jun 2018 17:00:30 +0200 Subject: [PATCH 51/56] Update package.xml --- kuka_rsi_hw_interface/package.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/kuka_rsi_hw_interface/package.xml b/kuka_rsi_hw_interface/package.xml index edada090b..a169054f7 100644 --- a/kuka_rsi_hw_interface/package.xml +++ b/kuka_rsi_hw_interface/package.xml @@ -22,7 +22,7 @@ realtime_tools roscpp std_msgs - ati_force_torque + force_torque_sensor force_controllers kdl_parser From 6fe766442a481bf0b5917b7be5b938cb46f58827 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Denis=20=C5=A0togl?= Date: Mon, 18 Jun 2018 19:57:34 +0200 Subject: [PATCH 52/56] Update kuka_hardware_interface_node.cpp --- kuka_rsi_hw_interface/src/kuka_hardware_interface_node.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/kuka_rsi_hw_interface/src/kuka_hardware_interface_node.cpp b/kuka_rsi_hw_interface/src/kuka_hardware_interface_node.cpp index 1ce3f8cc4..bedd01af0 100644 --- a/kuka_rsi_hw_interface/src/kuka_hardware_interface_node.cpp +++ b/kuka_rsi_hw_interface/src/kuka_hardware_interface_node.cpp @@ -91,7 +91,7 @@ int main(int argc, char** argv) //while (!g_quit) { // Receive current state from robot - if (!kuka_rsi_hw_interface->read(timestamp, period)) + if (!kuka_rsi_hwi_->read(timestamp, period)) { ROS_FATAL_NAMED("kuka_hardware_interface", "Failed to read state from robot. Shutting down!"); ros::shutdown(); @@ -107,7 +107,7 @@ int main(int argc, char** argv) controller_manager.update(timestamp, period); // Send new setpoint to robot - kuka_rsi_hw_interface->write(timestamp, period); + kuka_rsi_hwi_->write(timestamp, period); } spinner.stop(); From d319d96f0e181872cc45da380aa7b2482acfb25d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Denis=20=C5=A0togl?= Date: Mon, 18 Jun 2018 20:07:52 +0200 Subject: [PATCH 53/56] Update kuka_hardware_interface_node.cpp --- kuka_rsi_hw_interface/src/kuka_hardware_interface_node.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/kuka_rsi_hw_interface/src/kuka_hardware_interface_node.cpp b/kuka_rsi_hw_interface/src/kuka_hardware_interface_node.cpp index bedd01af0..3248a44a5 100644 --- a/kuka_rsi_hw_interface/src/kuka_hardware_interface_node.cpp +++ b/kuka_rsi_hw_interface/src/kuka_hardware_interface_node.cpp @@ -76,7 +76,7 @@ int main(int argc, char** argv) auto stopwatch_now = stopwatch_last; // TODO: controller manager takes only hardware_interface::RobotHW* as arguments - controller_manager::ControllerManager controller_manager(kuka_rsi_hwi_.get() nh); + controller_manager::ControllerManager controller_manager(kuka_rsi_hwi_.get(), nh); kuka_rsi_hwi_->start(); ROS_WARN("kuka_rsi_hwi successfully started!"); From a8010c5e27d925f88dd846ec2911280bd775641a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Denis=20=C5=A0togl?= Date: Mon, 18 Jun 2018 20:49:24 +0200 Subject: [PATCH 54/56] Update CMakeLists.txt --- kuka_rsi_hw_interface/CMakeLists.txt | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/kuka_rsi_hw_interface/CMakeLists.txt b/kuka_rsi_hw_interface/CMakeLists.txt index 6ea4681f8..a7fe75efd 100644 --- a/kuka_rsi_hw_interface/CMakeLists.txt +++ b/kuka_rsi_hw_interface/CMakeLists.txt @@ -83,3 +83,7 @@ install( install( TARGETS kuka_hardware_interface_node RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + +install(DIRECTORY test + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) From 7346fbe827eca1b5b997c2b45b87361fb40b1e2e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Denis=20=C5=A0togl?= Date: Mon, 18 Jun 2018 20:50:07 +0200 Subject: [PATCH 55/56] Update CMakeLists.txt --- kuka_rsi_hw_interface/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/kuka_rsi_hw_interface/CMakeLists.txt b/kuka_rsi_hw_interface/CMakeLists.txt index a7fe75efd..5f069be75 100644 --- a/kuka_rsi_hw_interface/CMakeLists.txt +++ b/kuka_rsi_hw_interface/CMakeLists.txt @@ -84,6 +84,6 @@ install( TARGETS kuka_hardware_interface_node RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) -install(DIRECTORY test +install(DIRECTORY launch test DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) From 25a64bb9b5092473071dee054530b5811ab1c538 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Denis=20=C5=A0togl?= Date: Mon, 18 Jun 2018 21:45:28 +0200 Subject: [PATCH 56/56] Update CMakeLists.txt --- kuka_rsi_hw_interface/CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/kuka_rsi_hw_interface/CMakeLists.txt b/kuka_rsi_hw_interface/CMakeLists.txt index 5f069be75..fb7e24f67 100644 --- a/kuka_rsi_hw_interface/CMakeLists.txt +++ b/kuka_rsi_hw_interface/CMakeLists.txt @@ -84,6 +84,6 @@ install( TARGETS kuka_hardware_interface_node RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) -install(DIRECTORY launch test +install(DIRECTORY config launch test DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} )

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