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External axis #1

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External axis #1

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ac43be4
Remove world link from cybertech macro, use parent argument instead
danwahl Nov 3, 2025
13ecc43
Add optional external linear axis to cybertech macros
danwahl Nov 3, 2025
830145b
Put external axis last for proper RSI driver order
danwahl Nov 5, 2025
12ca5f9
change orientation of arm
henrygerardmoore Nov 14, 2025
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Binary file added kuka_cybertech_support/meshes/kr16_r2010_2/collision/rail_base.stl
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Binary file added kuka_cybertech_support/meshes/kr16_r2010_2/collision/rail_carriage.stl
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Binary file added kuka_cybertech_support/meshes/kr16_r2010_2/visual/rail_base.stl
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Binary file added kuka_cybertech_support/meshes/kr16_r2010_2/visual/rail_carriage.stl
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3 changes: 2 additions & 1 deletion kuka_cybertech_support/urdf/kr16_r2010_2.urdf.xacro
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,8 @@
<xacro:arg name="pitch" default="0"/>
<xacro:arg name="yaw" default="0"/>
<xacro:kuka_cybertech_ros2_control name="$(arg prefix)kr16_r2010_2" driver_version="$(arg driver_version)" client_ip="$(arg client_ip)" client_port="$(arg client_port)" controller_ip="$(arg controller_ip)" prefix="$(arg prefix)" mode="$(arg mode)" use_gpio="$(arg use_gpio)" roundtrip_time="$(arg roundtrip_time)" verify_robot_model="$(arg verify_robot_model)"/>
<xacro:kuka_kr16_r2010_2_robot prefix="$(arg prefix)" package_name="kuka_cybertech_support">
<link name="world" />
<xacro:kuka_kr16_r2010_2_robot prefix="$(arg prefix)" package_name="kuka_cybertech_support" parent="world">
<origin xyz="$(arg x) $(arg y) $(arg z)" rpy="$(arg roll) $(arg pitch) $(arg yaw)"/>
</xacro:kuka_kr16_r2010_2_robot>
</robot>
72 changes: 65 additions & 7 deletions kuka_cybertech_support/urdf/kr16_r2010_2_macro.xacro
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Original file line number Diff line number Diff line change
@@ -1,8 +1,45 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro">
<xacro:macro name="kuka_kr16_r2010_2_robot" params="prefix package_name *origin">
<xacro:macro name="kuka_kr16_r2010_2_robot" params="prefix package_name *origin parent external_axis:=false">
<xacro:if value="${external_axis}">
<link name="${prefix}rail_base">
<visual>
<origin rpy="0 0 0" xyz="-4.6875 0 0" />
<geometry>
<mesh filename="package://${package_name}/meshes/kr16_r2010_2/visual/rail_base.stl" scale="1 1 1" />
</geometry>
<material name="grey">
<color rgba="0.1 0.1 0.1 1.0" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-4.6875 0 0" />
<geometry>
<mesh filename="package://${package_name}/meshes/kr16_r2010_2/collision/rail_base.stl" scale="1 1 1" />
</geometry>
</collision>
</link>
<link name="${prefix}rail_carriage">
<visual>
<!-- TODO eyeballed this origin, needs to be measured -->
<origin rpy="0 0 0" xyz="-0.4975 0 0" />
<geometry>
<mesh filename="package://${package_name}/meshes/kr16_r2010_2/visual/rail_carriage.stl" scale="1 1 1" />
</geometry>
<material name="light_grey">
<color rgba="0.6 0.6 0.6 1.0" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.4975 0 0" />
<geometry>
<mesh filename="package://${package_name}/meshes/kr16_r2010_2/collision/rail_carriage.stl"
scale="1 1 1" />
</geometry>
</collision>
</link>
</xacro:if>
<!-- links - main serial chain -->
<link name="world"/>
<link name="${prefix}base_link">
<collision>
<geometry>
Expand Down Expand Up @@ -101,11 +138,32 @@
<origin rpy="-0.0 0.0 -0.0" xyz="0.0 0.0 0.0"/>
</visual>
</link>
<joint name="${prefix}world-base_link" type="fixed">
<parent link="world"/>
<child link="${prefix}base_link"/>
<xacro:insert_block name="origin"/>
</joint>
<xacro:if value="${external_axis}">
<joint name="${prefix}parent-rail_base" type="fixed">
<parent link="${parent}" />
<child link="${prefix}rail_base" />
<xacro:insert_block name="origin"/>
</joint>
<joint name="${prefix}linear_rail" type="prismatic">
<axis xyz="1 0 0" />
<parent link="${prefix}rail_base" />
<child link="${prefix}rail_carriage" />
<origin rpy="0 0 0" xyz="0 0 0" />
<limit acceleration="1.0" effort="100000.0" lower="-2.0" upper="2.0" velocity="0.175" />
</joint>
<joint name="${prefix}base_link" type="fixed">
<parent link="${prefix}rail_carriage"/>
<child link="${prefix}base_link"/>
<origin xyz="0 0.159 0" rpy="-1.5708 -1.5708 0" />
</joint>
</xacro:if>
<xacro:unless value="${external_axis}">
<joint name="${prefix}parent-base_link" type="fixed">
<parent link="${parent}"/>
<child link="${prefix}base_link"/>
<xacro:insert_block name="origin"/>
</joint>
</xacro:unless>
<joint name="${prefix}joint_1" type="revolute">
<axis xyz="0.0 0.0 1.0"/>
<child link="${prefix}link_1"/>
Expand Down
10 changes: 9 additions & 1 deletion kuka_cybertech_support/urdf/kr_cybertech_ros2_control_macro.xacro
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@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="UTF-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="kuka_cybertech_ros2_control" params="name driver_version client_ip client_port controller_ip prefix mode use_gpio roundtrip_time verify_robot_model">
<xacro:macro name="kuka_cybertech_ros2_control" params="name driver_version client_ip client_port controller_ip prefix mode use_gpio roundtrip_time verify_robot_model external_axis:=false">
<!-- gazebo -->
<xacro:if value="${mode == 'gazebo'}">
<xacro:include filename="$(find kuka_gazebo)/gazebo/kuka_gazebo.xacro"/>
Expand Down Expand Up @@ -67,6 +67,14 @@
<param name="initial_value">0.0</param>
</state_interface>
</joint>
<xacro:if value="${external_axis}">
<joint name="${prefix}linear_rail">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">0.0</param>
</state_interface>
</joint>
</xacro:if>
<xacro:if value="${use_gpio}">
<xacro:include filename="$(find kuka_rsi_driver)/config/gpio_config.xacro"/>
<xacro:gpio_config/>
Expand Down
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