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simonschmeisser
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Thanks a lot for your contribution and sorry for neglecting it for so long! I added some small things that need improvement to keep packages consistent.
No worries, thanks for your review! I tried to address all comments, please solve the conversations yourself if you agree to the changes. |
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Thanks for your patience! Let's wait for @gavanderhoorn eagle eyes 😉
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I've not checked joint limits, nor the sizes of meshes.
@simonschmeisser: did you check those?
| <limit lower="${radians(-350)}" upper="${radians(350)}" effort="0" velocity="${radians(175)}"/> | ||
| </joint> | ||
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| <!-- This frame corresponds to the $TOOL coordinate system in KUKA KRC controllers. --> |
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Both flange and tool0 have this comment.
Is that correct?
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Seems to be the case for the other robots as well, see e.g. KR150-2
However, the KR150 r3100 has the following comment on flange:
<!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
and tool0
<!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
<!-- This frame corresponds to the $FLANGE coordinate system in KUKA KRC controllers. -->
Unfortunately, I have no idea what is correct / how to check that
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Sorry for letting this get stale again, and sorry for getting sloppy with the comment for KR150-2 in #195
You could use either the comments you mentioned here or like in the PR above (REP-199 ...)
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In the pdf it's named |
simonschmeisser
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except for one number limits and velocities match the data sheet
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@gavanderhoorn @simonschmeisser can you help me on the remaining open questions? |
Use joint_state_publisher_gui
due to simonschmeisser's suggestion
Due to simonschmeisser's suggestion
Co-authored-by: G.A. vd. Hoorn <g.a.vanderhoorn@tudelft.nl>
Co-authored-by: G.A. vd. Hoorn <g.a.vanderhoorn@tudelft.nl>
Co-authored-by: G.A. vd. Hoorn <g.a.vanderhoorn@tudelft.nl>
Co-authored-by: Simon Schmeisser <s.schmeisser@gmx.net>
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Adds support for the KR270 R2700. The dimensions are taken from the datasheet of the KR270 R2700 ultra. The inertia parameters are wrong (just copied from KR210, whose are also wrong as stated the respective
package.xml).I also kept the
joint_state_publisherdue to consistency reasons.Anything more to consider?