From a5d70ca8ac46b69fca777ac97609d66e71a4725e Mon Sep 17 00:00:00 2001 From: Gonzalo Casas Date: Tue, 30 Aug 2022 13:35:37 +0200 Subject: [PATCH] Add ABB IRB 1600 8/1.45 variant (#136) Co-authored-by: gavanderhoorn --- .../config/joint_names_irb1600_8_145.yaml | 1 + .../launch/load_irb1600_8_145.launch | 3 + ...ot_interface_download_irb1600_8_145.launch | 20 ++ ...robot_state_visualize_irb1600_8_145.launch | 25 +++ .../launch/test_irb1600_8_145.launch | 9 + .../meshes/irb1600_8_145/collision/link_2.stl | Bin 0 -> 23584 bytes .../meshes/irb1600_8_145/visual/link_2.stl | Bin 0 -> 292384 bytes abb_irb1600_support/package.xml | 1 + abb_irb1600_support/urdf/irb1600_8_145.xacro | 6 + .../urdf/irb1600_8_145_macro.xacro | 188 ++++++++++++++++++ 10 files changed, 253 insertions(+) create mode 100644 abb_irb1600_support/config/joint_names_irb1600_8_145.yaml create mode 100644 abb_irb1600_support/launch/load_irb1600_8_145.launch create mode 100644 abb_irb1600_support/launch/robot_interface_download_irb1600_8_145.launch create mode 100644 abb_irb1600_support/launch/robot_state_visualize_irb1600_8_145.launch create mode 100644 abb_irb1600_support/launch/test_irb1600_8_145.launch create mode 100644 abb_irb1600_support/meshes/irb1600_8_145/collision/link_2.stl create mode 100644 abb_irb1600_support/meshes/irb1600_8_145/visual/link_2.stl create mode 100644 abb_irb1600_support/urdf/irb1600_8_145.xacro create mode 100644 abb_irb1600_support/urdf/irb1600_8_145_macro.xacro diff --git a/abb_irb1600_support/config/joint_names_irb1600_8_145.yaml b/abb_irb1600_support/config/joint_names_irb1600_8_145.yaml new file mode 100644 index 00000000..b02f7ba3 --- /dev/null +++ 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 new file mode 100644 index 00000000..99d317ea --- /dev/null +++ b/abb_irb1600_support/launch/load_irb1600_8_145.launch @@ -0,0 +1,3 @@ + + + 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 new file mode 100644 index 00000000..5c59bcd0 --- /dev/null +++ b/abb_irb1600_support/launch/robot_interface_download_irb1600_8_145.launch @@ -0,0 +1,20 @@ + + + + + + + + + + + + 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 new file mode 100644 index 00000000..cc1bbbdf --- /dev/null +++ b/abb_irb1600_support/launch/robot_state_visualize_irb1600_8_145.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + diff --git a/abb_irb1600_support/launch/test_irb1600_8_145.launch b/abb_irb1600_support/launch/test_irb1600_8_145.launch 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zk%sAPPkhg|J%nEYkiZnuPV)VhR23@ORUlAHeb#Hh(=yBY-m literal 0 HcmV?d00001 diff --git a/abb_irb1600_support/package.xml b/abb_irb1600_support/package.xml index b75e26c1..010e5e89 100644 --- a/abb_irb1600_support/package.xml +++ b/abb_irb1600_support/package.xml @@ -37,6 +37,7 @@ roslaunch abb_driver + abb_resources joint_state_publisher robot_state_publisher rviz diff --git a/abb_irb1600_support/urdf/irb1600_8_145.xacro b/abb_irb1600_support/urdf/irb1600_8_145.xacro new file mode 100644 index 00000000..e073a9a1 --- /dev/null +++ b/abb_irb1600_support/urdf/irb1600_8_145.xacro @@ -0,0 +1,6 @@ + + + + + diff --git a/abb_irb1600_support/urdf/irb1600_8_145_macro.xacro b/abb_irb1600_support/urdf/irb1600_8_145_macro.xacro new file mode 100644 index 00000000..96c83609 --- /dev/null +++ b/abb_irb1600_support/urdf/irb1600_8_145_macro.xacro @@ -0,0 +1,188 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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