Integration of Kuka Agilus

asked 2016-03-11 11:36:19 -0600

PickBot
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Hey

I'm probably going to have access to a Kuka Agilus ( http://www.kuka-robotics.com/en/produ... ) and am currently working on the integration into ROS. So far, I've only found the Kuka Experimental ( https://github.com/ros-industrial/kuk... ) which does not yet contain support for the Agilus but contains urdfs and meshes for other Kuka arms. Is there something similar for the Agilus?

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Hi, I'm one of the maintainers of the kuka_experimental repository: you're right in that we don't have a 'support pkg' for the Agilus at the moment. They are not hard to make though. The repo does contain a ros_control RSI driver. Let me know if you need any assistance, I'd be happy to help.

gvdhoorn ( 2016-03-11 14:32:22 -0600 )edit

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answered 2016-03-12 04:00:41 -0600

gvdhoorn
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updated 2016-06-27 04:50:20 -0600

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.

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Thanks a lot! We are testing it in the next week, delivery times will slow down the hardware tests, but at least we can start with the simulations

PickBot ( 2016-03-12 05:47:32 -0600 )edit

Hm, for simulation with Gazebo we'd need to add inertial elements at least. I (obviously) don't have the real values, but SolidWorks can be used to get some estimates. I won't have access to SolidWorks for some time, so if you could take care of that I'd appreciate it.

gvdhoorn ( 2016-03-12 10:01:20 -0600 )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?

PickBot ( 2016-03-12 11:02:24 -0600 )edit

Btw, just to be clear: if you don't need a dynamic simulation, but only want to do a reachability analysis, or do some initial planning with MoveIt, you don't need inertial elements. The plain URDF would be enough.

gvdhoorn ( 2016-03-12 11:58:15 -0600 )edit

Could you tell me where you got the urdf and meshes for the R900? We'd like to compare its grasps with the R700 (or the R1100).

PickBot ( 2016-03-14 04:30:15 -0600 )edit

The urdf I wrote myself, the meshes came from the KUKA site (the link you posted in your OP actually).

gvdhoorn ( 2016-03-14 05:47:32 -0600 )edit

If you use the R900 macro as a template, it shouldn't be too hard to add the others to the package.

I'd very much appreciate it if in that case you'd be willing to open a PR against kuka_experimental, so I can add those to the kuka_kr6_support package.

gvdhoorn ( 2016-03-14 06:23:26 -0600 )edit

@PickBot: can you say anything about the correctness of the model in the kuka_kr6_support package I uploaded to kuka_experimental? I'd like to merge it into the main development branch, but it would be nice to fix any significant issues with it before doing so.

gvdhoorn ( 2016-04-01 12:02:21 -0600 )edit

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