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ros-industrial / kuka_experimental

Experimental packages for KUKA manipulators within ROS-Industrial (http://wiki.ros.org/kuka_experimental)
Apache License 2.0
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Include a new link called flange to the available robot descriptions #195

Closed andreflorindo closed 3 years ago

andreflorindo commented 3 years ago

Following the REP199 draft, in an effort to standardise how EEF are attached to industrial robots, a new link of name flange was added to all the available robot descriptions. In this new link, X+ is pointing "forwards", that is, X+ pointing away from the last link. I will refer more details to the REP itself, there it is better explained that I could do in this short post. This new flange is a child of the last physical link of a robot, then becoming the parent of tool0. The orientation of the tool0 was kept the same as in the previous commit, i.e. Z+ in the "forward" direction.

While the addition of this new link does change the TF tree, this should not create problems for most cells as the tool0 is kept with the same orientation as before this commit. There is an exception for the KR210 model, as the current description does has tool0 with a different orientation as all the other models (X+ in the "forward" direction). After this commit, all models will follow the same standard regarding the frames' orientation .

gavanderhoorn commented 3 years ago

Gijs: this includes 9 modified robots, so it should be complete except for the iiwa which is likely completely different (?)

I'm not sure exactly what the situation is with the IIWA.

I assume @andreflorindo is sufficiently comfortable with KR series robots to make this change, but might not be with the IIWA.

andreflorindo commented 3 years ago

Thanks for the feedback @simonschmeisser. I will take a better look to your comments next week and make the necessary changes.

gavanderhoorn commented 3 years ago

thanks @andreflorindo for the PR :+1: