Include a new link called flange to the available robot descriptions (r…

…os-industrial#195) * Following REP199, include a new link called flange to attach EEFs instead of the previous tool0 * Replace pi and DEG2RAD xacro properties with radians()
Levaru · Sep 28, 2021 · 652600d · 652600d
1 parent 132187b
commit 652600d
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diff --git a/kuka_kr10_support/urdf/kr10r1100sixx_macro.xacro b/kuka_kr10_support/urdf/kr10r1100sixx_macro.xacro
@@ -109,8 +109,8 @@
         </geometry>
       </collision>
     </link>
-    <!-- This frame corresponds to the $FLANGE coordinate system in KUKA KRC controllers. -->
-    <link name="${prefix}tool0"/>
+    <!-- Following REP199, this frame shall be use to attach EEF or other equipment -->
+    <link name="${prefix}flange" />
 
     <joint name="${prefix}joint_a1" type="revolute">
       <origin xyz="0 0 0.400" rpy="0 0 0"/>
@@ -154,10 +154,10 @@
       <axis xyz="-1 0 0"/>
       <limit effort="0" lower="${radians(-350)}" upper="${radians(350)}" velocity="${radians(492)}"/>
     </joint>
-    <joint name="${prefix}joint_a6-tool0" type="fixed">
+    <joint name="${prefix}joint_a6-flange" type="fixed">
       <parent link="${prefix}link_6"/>
-      <child link="${prefix}tool0"/>
-      <origin xyz="0 0 0" rpy="0 ${radians(90)} 0"/>
+      <child link="${prefix}flange"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
     </joint>
 
     <!-- ROS base_link to KUKA $ROBROOT coordinate system transform -->
@@ -167,5 +167,13 @@
       <parent link="${prefix}base_link"/>
       <child link="${prefix}base"/>
     </joint>
+
+    <!-- This frame corresponds to the $TOOL coordinate system in KUKA KRC controllers -->
+    <link name="${prefix}tool0" />
+    <joint name="${prefix}flange-tool0" type="fixed">
+      <parent link="${prefix}flange"/>
+      <child link="${prefix}tool0"/>
+      <origin xyz="0 0 0" rpy="0 ${radians(90)} 0"/>
+    </joint>
   </xacro:macro>
 </robot>
diff --git a/kuka_kr120_support/urdf/kr120r2500pro_macro.xacro b/kuka_kr120_support/urdf/kr120r2500pro_macro.xacro
@@ -1,8 +1,6 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
 
-  <xacro:property name="DEG2RAD" value="0.017453292519943295"/>
-
   <xacro:macro name="kuka_kr120r2500pro" params="prefix">
     <!-- LINKS -->
     <!-- base link -->
@@ -145,9 +143,8 @@
         </geometry>
       </collision>
     </link>
-    <!-- tool 0 -->
-    <!-- This frame corresponds to the $FLANGE coordinate system in KUKA KRC controllers. -->
-    <link name="${prefix}tool0"/>
+    <!-- Following REP199, this frame shall be use to attach EEF or other equipment -->
+    <link name="${prefix}flange" />
     <!-- END LINKS -->
 
     <!-- JOINTS -->
@@ -157,53 +154,53 @@
       <parent link="${prefix}base_link"/>
       <child link="${prefix}link_1"/>
       <axis xyz="0 0 -1"/>
-      <limit effort="0" lower="${-DEG2RAD * 185}" upper="${DEG2RAD * 185}" velocity="${DEG2RAD * 156}"/>
+      <limit effort="0" lower="${-radians(185)}" upper="${radians(185)}" velocity="${radians(156)}"/>
     </joint>
     <!-- joint 2 (A2) -->
     <joint name="${prefix}joint_a2" type="revolute">
       <origin xyz="0.35 0 0" rpy="0 0 0"/>
       <parent link="${prefix}link_1"/>
       <child link="${prefix}link_2"/>
       <axis xyz="0 1 0"/>
-      <limit effort="0" lower="${-DEG2RAD * 155}" upper="${DEG2RAD * 35}" velocity="${DEG2RAD * 156}"/>
+      <limit effort="0" lower="${-radians(155)}" upper="${radians(35)}" velocity="${radians(156)}"/>
     </joint>
     <!-- joint 3 (A3) -->
     <joint name="${prefix}joint_a3" type="revolute">
       <origin xyz="1.150 0 0" rpy="0 0 0"/>
       <parent link="${prefix}link_2"/>
       <child link="${prefix}link_3"/>
       <axis xyz="0 1 0"/>
-      <limit effort="0" lower="${-DEG2RAD * 130}" upper="${DEG2RAD * 154}" velocity="${DEG2RAD * 156}"/>
+      <limit effort="0" lower="${-radians(130)}" upper="${radians(154)}" velocity="${radians(156)}"/>
     </joint>
     <!-- joint 4 (A4) -->
     <joint name="${prefix}joint_a4" type="revolute">
       <origin xyz="1.0 0 -0.041" rpy="0 0 0"/>
       <parent link="${prefix}link_3"/>
       <child link="${prefix}link_4"/>
       <axis xyz="-1 0 0"/>
-      <limit effort="0" lower="${-DEG2RAD * 350}" upper="${DEG2RAD * 350}" velocity="${DEG2RAD * 330}"/>
+      <limit effort="0" lower="${-radians(350)}" upper="${radians(350)}" velocity="${radians(330)}"/>
     </joint>
     <!-- joint 5 (A5) -->
     <joint name="${prefix}joint_a5" type="revolute">
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <parent link="${prefix}link_4"/>
       <child link="${prefix}link_5"/>
       <axis xyz="0 1 0"/>
-      <limit effort="0" lower="${-DEG2RAD * 130}" upper="${DEG2RAD * 130}" velocity="${DEG2RAD * 330}"/>
+      <limit effort="0" lower="${-radians(130)}" upper="${radians(130)}" velocity="${radians(330)}"/>
     </joint>
     <!-- joint 6 (A6) -->
     <joint name="${prefix}joint_a6" type="revolute">
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <parent link="${prefix}link_5"/>
       <child link="${prefix}link_6"/>
       <axis xyz="-1 0 0"/>
-      <limit effort="0" lower="${-DEG2RAD * 350}" upper="${DEG2RAD * 350}" velocity="${DEG2RAD * 615}"/>
+      <limit effort="0" lower="${-radians(350)}" upper="${radians(350)}" velocity="${radians(615)}"/>
     </joint>
     <!-- tool frame - fixed frame -->
-    <joint name="${prefix}joint_a6-tool0" type="fixed">
+    <joint name="${prefix}joint_a6-flange" type="fixed">
       <parent link="${prefix}link_6"/>
-      <child link="${prefix}tool0"/>
-      <origin xyz="0.215 0 0" rpy="0 ${DEG2RAD * 90} 0"/>
+      <child link="${prefix}flange"/>
+      <origin xyz="0.215 0 0" rpy="0 0 0"/>
     </joint>
     <!-- END JOINTS -->
 
@@ -215,6 +212,13 @@
       <child link="${prefix}base"/>
     </joint>
 
+    <!-- This frame corresponds to the $TOOL coordinate system in KUKA KRC controllers -->
+    <link name="${prefix}tool0" />
+    <joint name="${prefix}flange-tool0" type="fixed">
+      <parent link="${prefix}flange"/>
+      <child link="${prefix}tool0"/>
+      <origin xyz="0 0 0" rpy="0 ${radians(90)} 0"/>
+    </joint>
   </xacro:macro>
 </robot>
 

diff --git a/kuka_kr150_support/urdf/kr150_2_macro.xacro b/kuka_kr150_support/urdf/kr150_2_macro.xacro
@@ -109,8 +109,8 @@
       </collision>
     </link>
     <!-- tool link -->
-    <!-- This frame corresponds to the $FLANGE coordinate system in KUKA KRC controllers. -->
-    <link name="${prefix}tool0"/>
+    <!-- This frame corresponds to the $TOOL coordinate system in KUKA KRC controllers. -->
+    <link name="${prefix}flange"/>
     <!-- END LINKS -->
 
     <!-- JOINTS -->
@@ -163,19 +163,27 @@
       <limit effort="0" lower="${radians(-350)}" upper="${radians(350)}" velocity="${radians(238)}"/>
     </joint>
     <!-- tool frame - fixed frame -->
-    <joint name="${prefix}joint_a6-tool0" type="fixed">
+    <joint name="${prefix}joint_a6-flange" type="fixed">
       <parent link="${prefix}link_6"/>
-      <child link="${prefix}tool0"/>
-      <origin xyz="0 0 0" rpy="0 ${pi/2} 0"/>
+      <child link="${prefix}flange"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
     </joint>
     <!-- END JOINTS -->
 
     <!-- ROS base_link to KUKA $ROBROOT coordinate system transform -->
     <link name="${prefix}base" />
     <joint name="${prefix}base_link-base" type="fixed">
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <parent link="${prefix}base_link" />
-      <child link="${prefix}base" />
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}base_link"/>
+      <child link="${prefix}base"/>
+    </joint>
+
+    <!-- This frame corresponds to the $TOOL coordinate system in KUKA KRC controllers -->
+    <link name="${prefix}tool0" />
+    <joint name="${prefix}flange-tool0" type="fixed">
+      <parent link="${prefix}flange"/>
+      <child link="${prefix}tool0"/>
+      <origin xyz="0 0 0" rpy="0 ${radians(90)} 0"/>
     </joint>
 
   </xacro:macro>

diff --git a/kuka_kr16_support/urdf/kr16_2_macro.xacro b/kuka_kr16_support/urdf/kr16_2_macro.xacro
@@ -144,8 +144,8 @@
       </collision>
     </link>
     <!-- tool 0 -->
-    <!-- This frame corresponds to the $FLANGE coordinate system in KUKA KRC controllers. -->
-    <link name="${prefix}tool0"/>
+    <!-- Following REP199, this frame shall be use to attach EEF or other equipment -->
+    <link name="${prefix}flange" />
     <!-- END LINKS -->
 
     <!-- JOINTS -->
@@ -198,10 +198,10 @@
       <limit effort="0" lower="${radians(-350)}" upper="${radians(350)}" velocity="${radians(615)}"/>
     </joint>
     <!-- tool frame - fixed frame -->
-    <joint name="${prefix}joint_a6-tool0" type="fixed">
+    <joint name="${prefix}joint_a6-flange" type="fixed">
       <parent link="${prefix}link_6"/>
-      <child link="${prefix}tool0"/>
-      <origin xyz="0.158 0 0" rpy="0 ${radians(90)} 0"/>
+      <child link="${prefix}flange"/>
+      <origin xyz="0.158 0 0" rpy="0 0 0"/>
     </joint>
     <!-- END JOINTS -->
 
@@ -213,5 +213,13 @@
       <child link="${prefix}base"/>
     </joint>
 
+    <!-- This frame corresponds to the $TOOL coordinate system in KUKA KRC controllers -->
+    <link name="${prefix}tool0" />
+    <joint name="${prefix}flange-tool0" type="fixed">
+      <parent link="${prefix}flange"/>
+      <child link="${prefix}tool0"/>
+      <origin xyz="0 0 0" rpy="0 ${radians(90)} 0"/>
+    </joint>
+
   </xacro:macro>
 </robot>
diff --git a/kuka_kr210_support/urdf/kr210l150_macro.xacro b/kuka_kr210_support/urdf/kr210l150_macro.xacro
@@ -1,8 +1,5 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
-  <property name="pi" value="3.141592654"/>
-  <!--degrees to radians-->
-  <property name="deg" value="0.017453293"/>
 
   <xacro:macro name="kuka_kr210l150" params="prefix">
     <!-- links -->
@@ -13,7 +10,7 @@
         <inertia ixx="89.282" ixy="-0.47721" ixz="0.85562" iyy="107.51" iyz="0.0067576" izz="172.02"/>
       </inertial>
       <visual>
-        <origin xyz="0 0 0" rpy="${-pi/2} 0 0"/>
+        <origin xyz="0 0 0" rpy="${-radians(90)} 0 0"/>
         <geometry>
           <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/base_link.dae"/>
         </geometry>
@@ -22,7 +19,7 @@
         </material>
       </visual>
       <collision>
-        <origin xyz="0 0 0" rpy="${-pi/2} 0 0"/>
+        <origin xyz="0 0 0" rpy="${-radians(90)} 0 0"/>
         <geometry>
           <mesh filename="package://kuka_kr210_support/meshes/kr210l150/collision/base_link.stl"/>
         </geometry>
@@ -57,7 +54,7 @@
         <inertia ixx="180.42" ixy="-0.83462" ixz="0.32549" iyy="177.68" iyz="-20.82" izz="20.495"/>
       </inertial>
       <visual>
-        <origin xyz="0 0 0" rpy="${-pi/2} 0 0"/>
+        <origin xyz="0 0 0" rpy="${-radians(90)} 0 0"/>
         <geometry>
           <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/link_2.dae"/>
         </geometry>
@@ -79,7 +76,7 @@
         <inertia ixx="11.887" ixy="-0.12154" ixz="-1.3604" iyy="98.805" iyz="-0.056505" izz="96.251"/>
       </inertial>
       <visual>
-        <origin xyz="0 0 0" rpy="${-pi/2} 0 0"/>
+        <origin xyz="0 0 0" rpy="${-radians(90)} 0 0"/>
         <geometry>
           <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/link_3.dae"/>
         </geometry>
@@ -101,7 +98,7 @@
         <inertia ixx="1.8001" ixy="-0.18515" ixz="0.00051232" iyy="5.514" iyz="0.00070469" izz="6.3498"/>
       </inertial>
       <visual>
-        <origin xyz="0 0 0" rpy="${-pi/2} 0 0"/>
+        <origin xyz="0 0 0" rpy="${-radians(90)} 0 0"/>
         <geometry>
           <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/link_4.dae"/>
         </geometry>
@@ -123,7 +120,7 @@
         <inertia ixx="0.3938" ixy="-0.085332" ixz="1.7223E-06" iyy="0.68945" iyz="-7.0292E-06" izz="0.67292"/>
       </inertial>
       <visual>
-        <origin xyz="0 0 0" rpy="${-pi/2} 0 0"/>
+        <origin xyz="0 0 0" rpy="${-radians(90)} 0 0"/>
         <geometry>
           <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/link_5.dae"/>
         </geometry>
@@ -160,58 +157,74 @@
         </geometry>
       </collision>
     </link>
-    <!-- This frame corresponds to the $FLANGE coordinate system in KUKA KRC controllers. -->
-    <link name="${prefix}tool0"/>
+    <!-- This frame corresponds to the $TOOL coordinate system in KUKA KRC controllers. -->
+    <link name="${prefix}flange"/>
 
     <!-- joints -->
     <joint name="${prefix}joint_a1" type="revolute">
       <origin xyz="-0.00262 0.00097586 0.33099" rpy="0 0 0"/>
       <parent link="${prefix}base_link"/>
       <child link="${prefix}link_1"/>
       <axis xyz="0 0 1"/>
-      <limit lower="${-185*deg}" upper="${185*deg}" effort="0" velocity="${123*deg}"/>
+      <limit lower="${radians(-185)}" upper="${radians(185)}" effort="0" velocity="${radians(123)}"/>
     </joint>
     <joint name="${prefix}joint_a2" type="revolute">
       <origin xyz="0.35277 -0.037476 0.4192" rpy="0 0 0"/>
       <parent link="${prefix}link_1"/>
       <child link="${prefix}link_2"/>
       <axis xyz="0 1 0"/>
-      <limit lower="${-45*deg}" upper="${85*deg}" effort="0" velocity="${115*deg}"/>
+      <limit lower="${radians(-45)}" upper="${radians(85)}" effort="0" velocity="${radians(115)}"/>
     </joint>
     <joint name="${prefix}joint_a3" type="revolute">
       <origin xyz="-9.8483E-05 -0.1475 1.2499" rpy="0 0 0"/>
       <parent link="${prefix}link_2"/>
       <child link="${prefix}link_3"/>
       <axis xyz="0 1 0"/>
-      <limit lower="${-210*deg}" upper="${(155-90)*deg}" effort="0" velocity="${112*deg}"/>
+      <limit lower="${radians(-210)}" upper="${radians(65)}" effort="0" velocity="${radians(112)}"/>
     </joint>
     <joint name="${prefix}joint_a4" type="revolute">
       <origin xyz="0.95795 0.184 -0.055059" rpy="0 0 0"/>
       <parent link="${prefix}link_3"/>
       <child link="${prefix}link_4"/>
       <axis xyz="1 0 0"/>
-      <limit lower="${-350*deg}" upper="${350*deg}" effort="0" velocity="${179*deg}"/>
+      <limit lower="${radians(-350)}" upper="${radians(350)}" effort="0" velocity="${radians(179)}"/>
     </joint>
     <joint name="${prefix}joint_a5" type="revolute">
       <origin xyz="0.542 0 0" rpy="0 0 0"/>
       <parent link="${prefix}link_4"/>
       <child link="${prefix}link_5"/>
       <axis xyz="0 1 0"/>
-      <limit lower="${-125*deg}" upper="${125*deg}" effort="0" velocity="${172*deg}"/>
+      <limit lower="${radians(-125)}" upper="${radians(125)}" effort="0" velocity="${radians(172)}"/>
     </joint>
     <joint name="${prefix}joint_a6" type="revolute">
       <origin xyz="0.1925 0 0" rpy="0 0 0"/>
       <parent link="${prefix}link_5"/>
       <child link="${prefix}link_6"/>
       <axis xyz="1 0 0"/>
-      <limit lower="${-350*deg}" upper="${350*deg}" effort="0" velocity="${219*deg}"/>
+      <limit lower="${radians(-350)}" upper="${radians(350)}" effort="0" velocity="${radians(219)}"/>
     </joint>
-    <joint name="${prefix}link_6-tool0" type="fixed">
+    <joint name="${prefix}link_6-flange" type="fixed">
       <parent link="${prefix}link_6"/>
-      <child link="${prefix}tool0"/>
+      <child link="${prefix}flange"/>
       <origin xyz="0.0375 0 -0.00023924" rpy="0 0 0"/>
     </joint>
 
+    <!-- ROS base_link to KUKA $ROBROOT coordinate system transform -->
+    <link name="${prefix}base" />
+    <joint name="${prefix}base_link-base" type="fixed">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}base_link"/>
+      <child link="${prefix}base"/>
+    </joint>
+
+    <!-- This frame corresponds to the $TOOL coordinate system in KUKA KRC controllers -->
+    <link name="${prefix}tool0" />
+    <joint name="${prefix}flange-tool0" type="fixed">
+      <parent link="${prefix}flange"/>
+      <child link="${prefix}tool0"/>
+      <origin xyz="0 0 0" rpy="0 ${radians(90)} 0"/>
+    </joint>
+
     <!-- rename 'Link1' to 'link_1', maintain bw-compatibility -->
     <link name="${prefix}Link1"/>
     <joint name="${prefix}Link1-link_1" type="fixed">