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I've just pushed an experimental support package for the KR6 R900 sixx to the kuka_experimental repository in the kr6_agilus_support. Let me know if that works for you. Colouring / texturing can be improved later.

Pay particular attention to the orientation of the tool0 frame, as I cannot check that.

I've just pushed an experimental support package for the KR6 R900 sixx to the kuka_experimental repository in the kr6_agilus_support. branch. Colouring / texturing can be improved later.

Let me know if that works for you. Colouring / texturing you, so we can be improved later.merge it into the main repository.

Pay particular attention to the orientation of the tool0 frame, as I cannot check that.

I've just pushed an experimental support package for the KR6 R900 sixx to the kuka_experimental repository in the kr6_agilus_support branch. Colouring / texturing can be improved later.

Let me know if that works for you, so we can merge it into the main repository.

Pay particular attention to the orientation of the tool0 frame, as I cannot check that.


Edit:

We have SolidWorks running, so I'll talk to the hardware guys next week. Are there any tutorials on how to compute the inertial elements?

I don't / didn't know of any tutorials, but a quick search gave me:

The SolidWorks to URDF Exporter can also calculate them for you, but that can be slightly involved.

Update:

KR 6 Agilus support has been merged in the main indigo-devel branch (the kr6_agilus_support branch no longer exists). Currently only the R900 sixx variant is included in the robot support package. Work on other variants is underway (ros-industrial/kuka_experimental#39).


I've just pushed an experimental support package for the KR6 R900 sixx to the kuka_experimental repository in the kr6_agilus_support branch. Colouring / texturing can be improved later.

Let me know if that works for you, so we can merge it into the main repository.

Pay particular attention to the orientation of the tool0 frame, as I cannot check that.


Edit:

We have SolidWorks running, so I'll talk to the hardware guys next week. Are there any tutorials on how to compute the inertial elements?

I don't / didn't know of any tutorials, but a quick search gave me:

The SolidWorks to URDF Exporter can also calculate them for you, but that can be slightly involved.