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Experimental support for CRB 15000-12/1.27 #149

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merged 6 commits into from
Sep 22, 2024
Merged

Experimental support for CRB 15000-12/1.27 #149

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8df0531
Added support for CRB 15000-12
mmmarcopalma Jul 12, 2024
8414f22
Added support for CRB 15000-12
mmmarcopalma Jul 12, 2024
6003b36
Update package.xml
mmmarcopalma Jul 12, 2024
145b16f
Unified mesh normals, fixed joint and speed limits.
mmmarcopalma Aug 18, 2024
47b3a83
Make sure to run 12/1.27 variant roslaunch test as well
gavanderhoorn Sep 22, 2024
48870e7
Clarify source of joint limits and other specs
gavanderhoorn Sep 22, 2024
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1 change: 1 addition & 0 deletions abb_crb15000_support/config/joint_names_crb15000_12_127.yaml
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controller_joint_names: ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']
4 changes: 4 additions & 0 deletions abb_crb15000_support/launch/load_crb15000_12_127.launch
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<?xml version="1.0" ?>
<launch>
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find abb_crb15000_support)/urdf/crb15000_12_127.xacro'" />
</launch>
7 changes: 7 additions & 0 deletions abb_crb15000_support/launch/test_crb15000_12_127.launch
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<?xml version="1.0" ?>
<launch>
<include file="$(find abb_crb15000_support)/launch/load_crb15000_12_127.launch"/>
<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
</launch>
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1 change: 1 addition & 0 deletions abb_crb15000_support/package.xml
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Expand Up @@ -37,6 +37,7 @@
</p>
</description>
<author>G.A. vd. Hoorn (TU Delft Robotics Institute)</author>
<author>Marco Palma (TU Vienna Institute of Art and Design)</author>
<maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
<license>Apache-2.0</license>

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10 changes: 10 additions & 0 deletions abb_crb15000_support/tests/roslaunch_test_crb15000_12_127.xml
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<?xml version="1.0" ?>
<launch>
<group ns="load_crb15000_12_127__">
<include file="$(find abb_crb15000_support)/launch/load_crb15000_12_127.launch"/>
</group>

<group ns="test_crb15000_12_127__">
<include file="$(find abb_crb15000_support)/launch/test_crb15000_12_127.launch"/>
</group>
</launch>
6 changes: 6 additions & 0 deletions abb_crb15000_support/urdf/crb15000_12_127.xacro
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<?xml version="1.0" ?>
<robot name="abb_crb15000_12_127" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find abb_crb15000_support)/urdf/crb15000_12_127_macro.xacro"/>
<xacro:abb_crb15000_12_127 prefix=""/>
</robot>

169 changes: 169 additions & 0 deletions abb_crb15000_support/urdf/crb15000_12_127_macro.xacro
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:include filename="$(find abb_resources)/urdf/common_materials.xacro"/>

<xacro:macro name="abb_crb15000_12_127" params="prefix">
<!-- link list -->
<link name="${prefix}base_link">
<collision>
<geometry>
<mesh filename="package://abb_crb15000_support/meshes/crb15000_12_127/collision/base_link.stl"/>
</geometry>
</collision>
<visual>
<geometry>
<mesh filename="package://abb_crb15000_support/meshes/crb15000_12_127/visual/base_link.stl"/>
</geometry>
<xacro:material_abb_dark_gray />
</visual>
</link>
<link name="${prefix}link_1">
<collision>
<geometry>
<mesh filename="package://abb_crb15000_support/meshes/crb15000_12_127/collision/link_1.stl"/>
</geometry>
</collision>
<visual>
<geometry>
<mesh filename="package://abb_crb15000_support/meshes/crb15000_12_127/visual/link_1.stl"/>
</geometry>
<xacro:material_abb_dark_gray />
</visual>
</link>
<link name="${prefix}link_2">
<collision>
<geometry>
<mesh filename="package://abb_crb15000_support/meshes/crb15000_12_127/collision/link_2.stl"/>
</geometry>
</collision>
<visual>
<geometry>
<mesh filename="package://abb_crb15000_support/meshes/crb15000_12_127/visual/link_2.stl"/>
</geometry>
<xacro:material_abb_dark_gray />
</visual>
</link>
<link name="${prefix}link_3">
<collision>
<geometry>
<mesh filename="package://abb_crb15000_support/meshes/crb15000_5_95/collision/link_3.stl"/>
</geometry>
</collision>
<visual>
<geometry>
<mesh filename="package://abb_crb15000_support/meshes/crb15000_5_95/visual/link_3.stl"/>
</geometry>
<xacro:material_abb_dark_gray />
</visual>
</link>
<link name="${prefix}link_4">
<collision>
<geometry>
<mesh filename="package://abb_crb15000_support/meshes/crb15000_12_127/collision/link_4.stl"/>
</geometry>
</collision>
<visual>
<geometry>
<mesh filename="package://abb_crb15000_support/meshes/crb15000_12_127/visual/link_4.stl"/>
</geometry>
<xacro:material_abb_graphite_white />
</visual>
</link>
<link name="${prefix}link_5">
<collision>
<geometry>
<mesh filename="package://abb_crb15000_support/meshes/crb15000_5_95/collision/link_5.stl"/>
</geometry>
</collision>
<visual>
<geometry>
<mesh filename="package://abb_crb15000_support/meshes/crb15000_5_95/visual/link_5.stl"/>
</geometry>
<xacro:material_abb_graphite_white />
</visual>
</link>
<link name="${prefix}link_6">
<collision>
<geometry>
<mesh filename="package://abb_crb15000_support/meshes/crb15000_5_95/collision/link_6.stl"/>
</geometry>
</collision>
<visual>
<geometry>
<mesh filename="package://abb_crb15000_support/meshes/crb15000_5_95/visual/link_6.stl"/>
</geometry>
<xacro:material_abb_gray_white />
</visual>
</link>
<!-- end of link list -->

<!-- joint list -->
<joint type="revolute" name="${prefix}joint_1">
<origin xyz="0 0 0.338" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<parent link="${prefix}base_link"/>
<child link="${prefix}link_1"/>
<limit effort="0" lower="${radians(-180)}" upper="${radians(180)}" velocity="${radians(125)}"/>
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</joint>
<joint type="revolute" name="${prefix}joint_2">
<origin xyz="0 0 0" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<parent link="${prefix}link_1"/>
<child link="${prefix}link_2"/>
<limit effort="0" lower="${radians(-180)}" upper="${radians(180)}" velocity="${radians(125)}"/>
</joint>
<joint type="revolute" name="${prefix}joint_3">
<origin xyz="0 0 0.707" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<parent link="${prefix}link_2"/>
<child link="${prefix}link_3"/>
<limit effort="0" lower="${radians(-225)}" upper="${radians(85)}" velocity="${radians(140)}"/>
</joint>
<joint type="revolute" name="${prefix}joint_4">
<origin xyz="0 0 0.110" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<parent link="${prefix}link_3"/>
<child link="${prefix}link_4"/>
<limit effort="0" lower="${radians(-180)}" upper="${radians(180)}" velocity="${radians(200)}"/>
</joint>
<joint type="revolute" name="${prefix}joint_5">
<origin xyz="0.534 0 0" rpy="0 0 0"/>
<axis xyz="0 1 0"/>
<parent link="${prefix}link_4"/>
<child link="${prefix}link_5"/>
<limit effort="0" lower="${radians(-180)}" upper="${radians(180)}" velocity="${radians(200)}"/>
</joint>
<joint type="revolute" name="${prefix}joint_6">
<origin xyz="0.101 0 0.080" rpy="0 0 0"/>
<axis xyz="1 0 0"/>
<parent link="${prefix}link_5"/>
<child link="${prefix}link_6"/>
<limit effort="0" lower="${radians(-180)}" upper="${radians(180)}" velocity="${radians(200)}"/>
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</joint>
<!-- end of joint list -->

<!-- ROS-Industrial 'base' frame: base_link to ABB World Coordinates transform -->
<link name="${prefix}base" />
<joint name="${prefix}base_link-base" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="${prefix}base_link"/>
<child link="${prefix}base"/>
</joint>

<!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
<link name="${prefix}flange"/>
<joint type="fixed" name="${prefix}joint_6-flange">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="${prefix}link_6"/>
<child link="${prefix}flange"/>
</joint>

<!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
<link name="${prefix}tool0" />
<joint name="${prefix}flange-tool0" type="fixed">
<origin xyz="0 0 0" rpy="0 ${radians(90)} 0" />
<parent link="${prefix}flange" />
<child link="${prefix}tool0" />
</joint>
</xacro:macro>
</robot>