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ros-industrial / abb_experimental

Experimental packages for ABB manipulators within ROS-Industrial (http://wiki.ros.org/abb_experimental)
Apache License 2.0
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Add ABB IRB 1600 8/1.45 variant #136

Closed gonzalocasas closed 2 years ago

gonzalocasas commented 2 years ago

This PR adds the ABB IRB 1600 8/1.45 variant to the abb_irb1600_support package. If I understand it correctly, it is no longer desirable to include the moveit_config package that goes with it, so I have skipped this part.

The difference between this new variant and the existing IRB 1600 is on the link2 and the limits of all joints.

Please let me know if any changes are required.

gonzalocasas commented 2 years ago

A reference moveit config package is available here in case it serves for testing to anyone: https://github.com/gramaziokohler/abb_irb1600_8_145_moveit_config

gonzalocasas commented 2 years ago

Thanks!

(I've not verified the joint limits, but I trust you have)

Yes, I looked them up in the tech specs documentation of ABB for these models.

gavanderhoorn commented 2 years ago

Thanks again @gonzalocasas :+1:

gavanderhoorn commented 2 years ago

I'm squash merging this, as my fixup doesn't need to end up in the commit history.