Add ABB IRB 1600 8/1.45 variant (#136)

Co-authored-by: gavanderhoorn <[email protected]>
ros-industrial · Aug 30, 2022 · a5d70ca · a5d70ca
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diff --git a/abb_irb1600_support/config/joint_names_irb1600_8_145.yaml b/abb_irb1600_support/config/joint_names_irb1600_8_145.yaml
@@ -0,0 +1 @@
+controller_joint_names: ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']
diff --git a/abb_irb1600_support/launch/load_irb1600_8_145.launch b/abb_irb1600_support/launch/load_irb1600_8_145.launch
@@ -0,0 +1,3 @@
+<launch>
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find abb_irb1600_support)/urdf/irb1600_8_145.xacro'" />
+</launch>
diff --git a/abb_irb1600_support/launch/robot_interface_download_irb1600_8_145.launch b/abb_irb1600_support/launch/robot_interface_download_irb1600_8_145.launch
@@ -0,0 +1,20 @@
+<!--
+  Manipulator specific version of abb_driver's 'robot_interface.launch'.
+
+  Defaults provided for IRB 1600:
+   - J23_coupled = true
+
+  Usage:
+    robot_interface_download_irb1600.launch robot_ip:=<value>
+-->
+<launch>
+  <arg name="robot_ip" doc="IP of the controller" />
+  <arg name="J23_coupled" default="true" doc="If true, compensate for J2-J3 parallel linkage" />
+
+  <rosparam command="load" file="$(find abb_irb1600_support)/config/joint_names_irb1600_8_145.yaml" />
+
+  <include file="$(find abb_driver)/launch/robot_interface.launch">
+    <arg name="robot_ip" value="$(arg robot_ip)" />
+    <arg name="J23_coupled" value="$(arg J23_coupled)" />
+  </include>
+</launch>
diff --git a/abb_irb1600_support/launch/robot_state_visualize_irb1600_8_145.launch b/abb_irb1600_support/launch/robot_state_visualize_irb1600_8_145.launch
@@ -0,0 +1,25 @@
+<!--
+  Manipulator specific version of the state visualizer.
+
+  Defaults provided for IRB 2400:
+   - J23_coupled = true
+
+  Usage:
+    robot_state_visualize_irb2400.launch robot_ip:=<value>
+-->
+<launch>
+  <arg name="robot_ip" doc="IP of the controller" />
+  <arg name="J23_coupled" default="true" doc="If true, compensate for J2-J3 parallel linkage" />
+
+  <rosparam command="load" file="$(find abb_irb1600_support)/config/joint_names_irb1600_8_145.yaml" />
+
+  <include file="$(find abb_driver)/launch/robot_interface.launch">
+    <arg name="robot_ip" value="$(arg robot_ip)" />
+    <arg name="J23_coupled" value="$(arg J23_coupled)" />
+  </include>
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+  <include file="$(find abb_irb1600_support)/launch/load_irb1600_8_145.launch" />
+
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>
diff --git a/abb_irb1600_support/launch/test_irb1600_8_145.launch b/abb_irb1600_support/launch/test_irb1600_8_145.launch
@@ -0,0 +1,9 @@
+<launch>
+  <include file="$(find abb_irb1600_support)/launch/load_irb1600_8_145.launch" />
+
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="use_gui" value="true" />
+  </node>
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>
diff --git a/abb_irb1600_support/meshes/irb1600_8_145/collision/link_2.stl b/abb_irb1600_support/meshes/irb1600_8_145/collision/link_2.stl
diff --git a/abb_irb1600_support/meshes/irb1600_8_145/visual/link_2.stl b/abb_irb1600_support/meshes/irb1600_8_145/visual/link_2.stl
diff --git a/abb_irb1600_support/package.xml b/abb_irb1600_support/package.xml
@@ -37,6 +37,7 @@
   <test_depend>roslaunch</test_depend>
 
   <exec_depend>abb_driver</exec_depend>
+  <exec_depend>abb_resources</exec_depend>
   <exec_depend>joint_state_publisher</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>rviz</exec_depend>

diff --git a/abb_irb1600_support/urdf/irb1600_8_145.xacro b/abb_irb1600_support/urdf/irb1600_8_145.xacro
@@ -0,0 +1,6 @@
+<?xml version="1.0" ?>
+<robot name="abb_irb1600_8_145"
+  xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:include filename="$(find abb_irb1600_support)/urdf/irb1600_8_145_macro.xacro"/>
+  <xacro:abb_irb1600_8_145 prefix=""/>
+</robot>
diff --git a/abb_irb1600_support/urdf/irb1600_8_145_macro.xacro b/abb_irb1600_support/urdf/irb1600_8_145_macro.xacro
@@ -0,0 +1,188 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="irb1600_8_145">
+  <xacro:macro name="abb_irb1600_8_145" params="prefix">
+    <xacro:include filename="$(find abb_resources)/urdf/common_materials.xacro"/>
+    <!-- link list -->
+    <link name="${prefix}base_link">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://abb_irb1600_support/meshes/irb1600/visual/base_link.stl"/>
+        </geometry>
+        <xacro:material_abb_orange />
+    </visual>
+      <collision>
+        <geometry>
+          <mesh filename="package://abb_irb1600_support/meshes/irb1600/collision/base_link.stl"/>
+        </geometry>
+        <xacro:material_abb_yellow />
+      </collision>
+    </link>
+    <link name="${prefix}link_1">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://abb_irb1600_support/meshes/irb1600/visual/link_1.stl"/>
+        </geometry>
+        <xacro:material_abb_orange />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://abb_irb1600_support/meshes/irb1600/collision/link_1.stl"/>
+        </geometry>
+        <xacro:material_abb_yellow />
+      </collision>
+    </link>
+    <link name="${prefix}link_2">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://abb_irb1600_support/meshes/irb1600_8_145/visual/link_2.stl"/>
+        </geometry>
+        <xacro:material_abb_orange />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://abb_irb1600_support/meshes/irb1600_8_145/collision/link_2.stl"/>
+        </geometry>
+        <xacro:material_abb_yellow />
+      </collision>
+    </link>
+    <link name="${prefix}link_3">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://abb_irb1600_support/meshes/irb1600/visual/link_3.stl"/>
+        </geometry>
+        <xacro:material_abb_orange />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://abb_irb1600_support/meshes/irb1600/collision/link_3.stl"/>
+        </geometry>
+        <xacro:material_abb_yellow />
+      </collision>
+    </link>
+    <link name="${prefix}link_4">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://abb_irb1600_support/meshes/irb1600/visual/link_4.stl"/>
+        </geometry>
+        <xacro:material_abb_orange />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://abb_irb1600_support/meshes/irb1600/collision/link_4.stl"/>
+        </geometry>
+        <xacro:material_abb_yellow />
+      </collision>
+    </link>
+    <link name="${prefix}link_5">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://abb_irb1600_support/meshes/irb1600/visual/link_5.stl"/>
+        </geometry>
+        <xacro:material_abb_orange />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://abb_irb1600_support/meshes/irb1600/collision/link_5.stl"/>
+        </geometry>
+        <xacro:material_abb_yellow />
+      </collision>
+    </link>
+    <link name="${prefix}link_6">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://abb_irb1600_support/meshes/irb1600/visual/link_6.stl"/>
+        </geometry>
+        <xacro:material_abb_orange />
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="package://abb_irb1600_support/meshes/irb1600/collision/link_6.stl"/>
+        </geometry>
+        <xacro:material_abb_yellow />
+      </collision>
+    </link>
+    <!-- end of link list -->
+    <!-- joint list -->
+    <joint name="${prefix}joint_1" type="revolute">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}base_link"/>
+      <child link="${prefix}link_1"/>
+      <axis xyz="0 0 1"/>
+      <limit lower="-${pi}" upper="${pi}" effort="0" velocity="${pi}"/>
+    </joint>
+    <joint name="${prefix}joint_2" type="revolute">
+      <origin xyz="0.15 0 0.4865" rpy="0 0 0"/>
+      <parent link="${prefix}link_1"/>
+      <child link="${prefix}link_2"/>
+      <axis xyz="0 1 0"/>
+      <limit lower="-${pi/2}" upper="2.0944" effort="0" velocity="${pi}"/>
+    </joint>
+    <joint name="${prefix}joint_3" type="revolute">
+      <origin xyz="0 0 0.700" rpy="0 0 0"/>
+      <parent link="${prefix}link_2"/>
+      <child link="${prefix}link_3"/>
+      <axis xyz="0 1 0"/>
+      <limit lower="-4.27601" upper="1.1344" effort="0" velocity="3.4906"/>
+    </joint>
+    <joint name="${prefix}joint_4" type="revolute">
+      <origin xyz="0.300 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_3"/>
+      <child link="${prefix}link_4"/>
+      <axis xyz="1 0 0"/>
+      <limit lower="-3.4906" upper="3.4906" effort="0" velocity="6.9813"/>
+    </joint>
+    <joint name="${prefix}joint_5" type="revolute">
+      <origin xyz="0.300 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_4"/>
+      <child link="${prefix}link_5"/>
+      <axis xyz="0 1 0"/>
+      <limit lower="-2.0071" upper="2.0071" effort="0" velocity="6.9813"/>
+    </joint>
+    <joint name="${prefix}joint_6" type="revolute">
+      <origin xyz="0.065 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_5"/>
+      <child link="${prefix}link_6"/>
+      <axis xyz="1 0 0"/>
+      <limit lower="-6.9813" upper="6.9813" effort="0" velocity="8.0285"/>
+    </joint>
+    <!-- end of joint list -->
+
+    <!-- ROS-Industrial 'base' frame: base_link to ABB World Coordinates transform -->
+    <link name="${prefix}base" />
+    <joint name="${prefix}base_link-base" type="fixed">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}base_link"/>
+      <child link="${prefix}base"/>
+    </joint>
+
+    <!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
+    <link name="${prefix}flange"/>
+    <joint type="fixed" name="${prefix}joint_6-flange">
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <parent link="${prefix}link_6"/>
+      <child link="${prefix}flange"/>
+    </joint>
+
+    <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
+    <link name="${prefix}tool0" />
+    <joint name="${prefix}link_6-tool0" type="fixed">
+      <origin xyz="0 0 0" rpy="0 ${radians(90)} 0" />
+      <parent link="${prefix}flange" />
+      <child link="${prefix}tool0" />
+    </joint>
+  </xacro:macro>
+</robot>
+