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ros-industrial / abb

ROS-Industrial ABB support (http://wiki.ros.org/abb)
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Add support for 10kg and 12kg variants of GoFa robots (abb_crb15000_support) #202

Open gonzalocasas opened 4 months ago

gonzalocasas commented 4 months ago

There are two more models on the GoFa product line for 10kg and 12kg payloads. It would be great to add support for them to this package. Is there a source from which we could get a hold of the URDF and meshes of those models? If so, I can prepare the PR to add it to this repo.

gonzalocasas commented 4 months ago

/cc @mmmarcopalma

gavanderhoorn commented 4 months ago

Is there a source from which we could get a hold of the URDF and meshes of those models? If so, I can prepare the PR to add it to this repo.

The model I added in ros-industrial/abb_experimental#127 was based on a conversion from the CAD made available by ABB on their website.

If the variants you mention do not have any geometrical differences, you'd only have to add a new xacro:macro, reusing the original meshes, but (I assume) updated joint limits.

mmmarcopalma commented 4 months ago

Thanks! I started updating the URDF you provided also converting from the CAD models.

If the variants you mention do not have any geometrical differences, you'd only have to add a new xacro:macro, reusing the original meshes, but (I assume) updated joint limits.

The 3 GoFa models have geometrical differences (mainly links 2,3,4 have different lengths), so the meshes should be updated.
How did you find joint limit values? Also from ABB data sheet?

EDIT: links 1,2,4 + base have different sizes

gavanderhoorn commented 4 months ago

If the variants you mention do not have any geometrical differences, you'd only have to add a new xacro:macro, reusing the original meshes, but (I assume) updated joint limits.

The 3 GoFa models have geometrical differences (mainly links 2,3,4 have different lengths), so the meshes should be updated.

Please make sure to reuse meshes as much as possible. If only those links changed, reuse the existing meshes for the other links.

How did you find joint limit values? Also from ABB data sheet?

yes, that'd be a reliable source of information, although in case of asymmetric limits, you'll either need to check them against a real robot, or RobotStudio.

(technically you could also use RWS to get the info, as abb_robot_driver does, but that's probably more work)