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ros-industrial / kuka_experimental

Experimental packages for KUKA manipulators within ROS-Industrial (http://wiki.ros.org/kuka_experimental)
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Support for Kuka KR8 about #230

Closed frkngltk closed 1 year ago

frkngltk commented 1 year ago

Hello,

I have a robot model Kuka KR8 1620. I am aiming to use ROS for motion planning for this robot. To begin with, I have a work with EthernetKRL (EKI). There is no support for KR8 in the Kuka_experimental repository. As a result of this situation, I am creating my own ROS infrastructure. But at some points I had questions. These;

  1. I know that the easiest method to create the .xacro file is that the 3D model can be created with Solid or other programs. However, I could not find a 3D model of this product on the internet and the forum sites I follow. I did not prefer the .xacro file creation structure from the relevant ros_wiki page because it would take a long time. I also think that a ready-made product has a .xacro file. How can I get this file? Unfortunately, I do not have the opportunity to change the robot.
  2. With this structure I created with KR8, I will use it for motion planning, which I mentioned above. When I followed the headings specified in the kuka_eki_hw_interface field in this section, I could not see a certain explanation as to where the .launch file of the related robot was used with EKI. I would be glad if you could provide information on the subject.

Thanks a lot! Furkan