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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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KR10R1420 support #216

Closed aatb-ch closed 2 years ago

aatb-ch commented 2 years ago

Here are some added support files for KR10 R1420.

I have followed the other files as guide, the STL meshes have been generated from the official STEP files, visual decimated to about 10k triangles per link, collision have been turned into convex hulls and decimated to 200-500 triangles.

Under Noetic the launch files dont work in RVIZ to have the GUI due to the split of joint_state_publisher_gui, but I kept the structure to follow Melodic branch, and confirmed that I could properly move the robot with specified joint limits.

Screenshot 2022-03-28 at 23 27 31
aatb-ch commented 2 years ago

thanks :)

yes this is my first PR in the ROS community and I suffer from years of only committing code for myself.. will be more careful about commit titling next!

gavanderhoorn commented 2 years ago

@aatb-ch: thanks for the PR.

For future PRs though: could I ask you to please keep included changes on-topic?

While it is/was a good change, the changes to the includes of common_constants.xacro and common_materials.xacro in kuka_kr10_support/urdf/kr10r1100sixx_macro.xacro were essentially off-topic for this PR, which added support for a new variant.

If such changes must be included, please do so in separate commits (9eb27bb9 touches both the new file introduced by this PR and an existing one).

aatb-ch commented 2 years ago

Alright, yes I was unsure if this was worthy of a whole new PR and didnt want to pollute but absolutely i'll be careful to keep the scope of commits and PRs in check.