Initial commit of KUKA KR120 support package

Added support for the KUKA KR120 R2500 PRO manipulator
Meshes are based on the Unigraphics files found at http://www.kuka-robotics.com/res/sps/8ba89f50-3ccd-4361-9b9a-60bdd0662ac6_KR120_R2500_pro.prt.zip
Note that the rotation directions of the KUKA manipulators are different than e.g. the ABB manipulator. For joint 1 this is implemented using <axis xyz="0 0 -1"/>.

Fixed face normals in collision meshes

Removed build dependency on roslaunch
Added run dependency on xacro
Updated package.xml to specify the supported variant

Added base link that corresponds to $ROBROOT coordinate system in the
KRC controllers.
Added comment that tool0 corresponds to the $FLANGE coordinate system.

Move joint origins to reflect the parameters used by KUKA in the KRC4
controller

Updated urdf and meshes s.t. the kinematics correspond to the kinematics
on the KRC controller.

Renamed joints to A1, A2, ...

Renamed joints to joint_a1, joint_a2, ...

Updated urdf from xacro

kuka_kr120_support/CMakeLists.txt

@@ -0,0 +1,7 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(kuka_kr120_support)
+
+find_package(catkin REQUIRED)
+
+catkin_package()

kuka_kr120_support/launch/load_kr120r2500pro.launch

@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- Load robot description to parameter server -->
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find kuka_kr120_support)/urdf/kr120r2500pro.xacro'"/>
+</launch>

kuka_kr120_support/launch/test_kr120r2500pro.launch

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+<?xml version="1.0"?>
+<launch>
+  <include file="$(find kuka_kr120_support)/launch/load_kr120r2500pro.launch" />
+  <param name="use_gui" value="true" />
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>

kuka_kr120_support/package.xml

@@ -0,0 +1,47 @@
+<?xml version="1.0"?>
+<package>
+  <name>kuka_kr120_support</name>
+  <version>0.0.1</version>
+  <description>
+    <p>
+      ROS-Industrial support for the KUKA KR 120 R2500 PRO (KR QUANTEC PRO)
+      manipulator.
+    </p>
+    <p>
+      This package contains configuration data, 3D models and launch files
+      for the KUKA KR 120 R2500 PRO (KR QUANTEC PRO).
+    </p>
+    <p>
+      <b>Specifications</b>
+    </p>
+    <ul>
+      <li>KR 120 R2500 PRO - Default</li>
+    </ul>
+    <p>
+      Joint limits and maximum joint velocities are based on the information
+      found in the online
+      http://www.kuka-robotics.com/res/sps/e6c77545-9030-49b1-93f5-4d17c92173aa_Spez_KR_QUANTEC_pro_en.pdf
+      All urdfs are based on the default motion and joint velocity limits,
+      unless noted otherwise.
+    </p>
+    <p>
+      Before using any of the configuration files and / or meshes included
+      in this package, be sure to check they are correct for the particular
+      robot model and configuration you intend to use them with.
+    </p>
+  </description>
+  <author>Lars Tingelstad</author>
+  <maintainer email="lars.tingelstad@ntnu.no"/>
+  <license>BSD</license>
+  <url type="website">http://ros.org/wiki/kuka_kr120_support</url>
+  <url type="bugtracker">https://github.com/ros-industrial/kuka_experimental/issues</url>
+  <url type="repository">https://github.com/ros-industrial/kuka_experimental</url>
+  <buildtool_depend>catkin</buildtool_depend>
+  <run_depend>robot_state_publisher</run_depend>
+  <run_depend>rviz</run_depend>
+  <run_depend>joint_state_publisher</run_depend>
+  <run_depend>xacro</run_depend>
+  <export>
+    <architecture_independent/>
+  </export>
+</package>

kuka_kr120_support/urdf/kr120r2500pro.urdf

@@ -0,0 +1,196 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from kr120r2500pro.xacro            | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<!--Generates a urdf from the macro in kr120r2500pro_macro.xacro -->
+<robot name="kuka_kr120r2500pro" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <link name="base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="2"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/visual/base_link.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/collision/base_link.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="2"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/visual/link_1.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/collision/link_1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="2"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/visual/link_2.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/collision/link_2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="2"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/visual/link_3.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/collision/link_3.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="2"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/visual/link_4.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/collision/link_4.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="2"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/visual/link_5.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/collision/link_5.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="2"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/visual/link_6.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/collision/link_6.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="tool0"/>
+  <joint name="joint_a1" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0.675"/>
+    <parent link="base_link"/>
+    <child link="link_1"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="0" lower="-3.22885911619" upper="3.22885911619" velocity="2.72271363311"/>
+  </joint>
+  <joint name="joint_a2" type="revolute">
+    <origin rpy="0 0 0" xyz="0.35 0 0"/>
+    <parent link="link_1"/>
+    <child link="link_2"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-2.70526034059" upper="0.610865238198" velocity="2.72271363311"/>
+  </joint>
+  <joint name="joint_a3" type="revolute">
+    <origin rpy="0 0 0" xyz="1.150 0 0"/>
+    <parent link="link_2"/>
+    <child link="link_3"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-2.26892802759" upper="2.68780704807" velocity="2.72271363311"/>
+  </joint>
+  <joint name="joint_a4" type="revolute">
+    <origin rpy="0 0 0" xyz="1.0 0 -0.041"/>
+    <parent link="link_3"/>
+    <child link="link_4"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="0" lower="-6.10865238198" upper="6.10865238198" velocity="5.75958653158"/>
+  </joint>
+  <joint name="joint_a5" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="link_4"/>
+    <child link="link_5"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-2.26892802759" upper="2.26892802759" velocity="5.75958653158"/>
+  </joint>
+  <joint name="joint_a6" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="link_5"/>
+    <child link="link_6"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="0" lower="-6.10865238198" upper="6.10865238198" velocity="10.7337748998"/>
+  </joint>
+  <joint name="joint_a6-tool0" type="fixed">
+    <parent link="link_6"/>
+    <child link="tool0"/>
+    <origin rpy="0 1.57079632679 0" xyz="0.215 0 0"/>
+  </joint>
+  <link name="base"/>
+  <joint name="base_link-base" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="base"/>
+  </joint>
+</robot>
+

kuka_kr120_support/urdf/kr120r2500pro.xacro

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+<?xml version="1.0"?>
+<!--Generates a urdf from the macro in kr120r2500pro_macro.xacro -->
+<robot name="kuka_kr120r2500pro" xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:include filename="$(find kuka_kr120_support)/urdf/kr120r2500pro_macro.xacro" />
+    <xacro:kuka_kr120r2500pro prefix=""/>
+</robot>