ros-industrial · simonschmeisser · Sep 21, 2018 · Sep 30, 2021 · Sep 30, 2021 · Sep 30, 2021
diff --git a/kuka_kr16_support/CMakeLists.txt b/kuka_kr16_support/CMakeLists.txt
@@ -8,7 +8,8 @@ catkin_package()
 
 if (CATKIN_ENABLE_TESTING)
   find_package(roslaunch REQUIRED)
-  roslaunch_add_file_check(test/roslaunch_test.xml)
+  roslaunch_add_file_check(test/roslaunch_test_kr16_2.xml)
+  roslaunch_add_file_check(test/roslaunch_test_kr16r1610cybertech.xml)
 endif()
 
 install(DIRECTORY config launch meshes urdf

diff --git a/kuka_kr16_support/config/joint_names_kr16_r1610cybertech.yaml b/kuka_kr16_support/config/joint_names_kr16_r1610cybertech.yaml
@@ -0,0 +1 @@
+controller_joint_names: ['joint_a1', 'joint_a2', 'joint_a3', 'joint_a4', 'joint_a5', 'joint_a6']
diff --git a/kuka_kr16_support/config/opw_parameters_kr16r1610cybertech.yaml b/kuka_kr16_support/config/opw_parameters_kr16r1610cybertech.yaml
@@ -0,0 +1,20 @@
+#
+# Parameters for use with IK solvers which support OPW (Ortho-Parallel Wrist)
+# kinematic configurations, as described in the paper "An Analytical Solution
+# of the Inverse Kinematics Problem of Industrial Serial Manipulators with an
+# Ortho-parallel Basis and a Spherical Wrist" by Mathias Brandstötter, Arthur
+# Angerer, and Michael Hofbaur (Proceedings of the Austrian Robotics Workshop
+# 2014, 22-23 May, 2014, Linz, Austria).
+#
+# The moveit_opw_kinematics_plugin package provides such a solver.
+#
+opw_kinematics_geometric_parameters:
+  a1:  0.260
+  a2:  0.035
+  b:   0.000
+  c1:  0.675
+  c2:  0.680
+  c3:  0.670
+  c4:  0.158
+opw_kinematics_joint_offsets: [0.0, -1.57079632679, 0.0, 0.0, 0.0, 0.0]
+opw_kinematics_joint_sign_corrections: [-1, 1, 1, -1, 1, -1]
diff --git a/kuka_kr16_support/launch/load_kr16r1610cybertech.launch b/kuka_kr16_support/launch/load_kr16r1610cybertech.launch
@@ -0,0 +1,5 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- Load robot description to parameter server -->
+  <param name="robot_description" command="$(find xacro)/xacro '$(find kuka_kr16_support)/urdf/kr16r1610cybertech.xacro'"/>
+</launch>
diff --git a/kuka_kr16_support/launch/test_kr16r1610cybertech.launch b/kuka_kr16_support/launch/test_kr16r1610cybertech.launch
@@ -0,0 +1,9 @@
+<?xml version="1.0"?>
+<launch>
+  <include file="$(find kuka_kr16_support)/launch/load_kr16r1610cybertech.launch" />
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="use_gui" value="true" />
+  </node>
+  <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>
diff --git a/kuka_kr16_support/meshes/kr16r1610cybertech/collision/base_link.stl b/kuka_kr16_support/meshes/kr16r1610cybertech/collision/base_link.stl
diff --git a/kuka_kr16_support/meshes/kr16r1610cybertech/collision/link_1.stl b/kuka_kr16_support/meshes/kr16r1610cybertech/collision/link_1.stl
diff --git a/kuka_kr16_support/meshes/kr16r1610cybertech/collision/link_2.stl b/kuka_kr16_support/meshes/kr16r1610cybertech/collision/link_2.stl
diff --git a/kuka_kr16_support/meshes/kr16r1610cybertech/collision/link_3.stl b/kuka_kr16_support/meshes/kr16r1610cybertech/collision/link_3.stl
diff --git a/kuka_kr16_support/meshes/kr16r1610cybertech/collision/link_4.stl b/kuka_kr16_support/meshes/kr16r1610cybertech/collision/link_4.stl
diff --git a/kuka_kr16_support/meshes/kr16r1610cybertech/collision/link_5.stl b/kuka_kr16_support/meshes/kr16r1610cybertech/collision/link_5.stl
diff --git a/kuka_kr16_support/meshes/kr16r1610cybertech/collision/link_6.stl b/kuka_kr16_support/meshes/kr16r1610cybertech/collision/link_6.stl
diff --git a/kuka_kr16_support/meshes/kr16r1610cybertech/visual/base_link.dae b/kuka_kr16_support/meshes/kr16r1610cybertech/visual/base_link.dae