Proxon modify

kuka_kr10_gazebo/config/kr10_arm_controller.yaml

@@ -7,6 +7,7 @@ arm_controller:
     - joint_a4
     - joint_a5
     - joint_a6
+    - joint_drilling_tool_link
 
   state_publish_rate:  100
   action_monitor_rate: 100

kuka_kr10_gazebo/launch/kr10_control.launch

@@ -5,6 +5,6 @@
   <node name="joint_state_controller_spawner" pkg="controller_manager" type="spawner" args="joint_state_controller" />
 
   <!-- load the arm controller -->
-  <rosparam file="$(find kuka_kr10_gazebo)/config/kr10_arm_controller.yaml" command="load" />
-  <node name="kuka_kr10_controller_spawner" pkg="controller_manager" type="spawner" args="arm_controller" />
+  <!--rosparam file="$(find kuka_kr10_gazebo)/config/kr10_arm_controller.yaml" command="load" /-->
+  <!--node name="kuka_kr10_controller_spawner" pkg="controller_manager" type="spawner" args="arm_controller" /-->
 </launch>

kuka_kr10_gazebo/launch/spawn_kr10.launch

@@ -4,7 +4,7 @@
   <include file="$(find kuka_kr10_gazebo)/launch/load_kr10.launch"/>
 
   <!-- push robot_description to factory and spawn robot in gazebo -->
-  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model"
+  <!--node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model"
         output="screen" respawn="false"
         args="-urdf
               -param robot_description
@@ -14,7 +14,7 @@
               -z 0.0
               -R 0.0
               -P 0.0
-              -Y 0.0" />
+              -Y 0.0" /-->
 
   <!--include file="$(find kuka_kr10_gazebo)/launch/spawn_object.launch"/-->
 

kuka_kr10_support/urdf/proxxon_drill_macro.xacro

@@ -7,21 +7,21 @@
 
     <link name="${prefix}drilling_tool_link">
       <visual>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <origin xyz="-0.15 0 -0.1035" rpy="-${DEG2RAD * 90} -${DEG2RAD * 0} ${DEG2RAD * 90}"/>
         <geometry>
           <mesh filename="package://kuka_kr10_support/meshes/kr10r1100sixx/visual/proxxon_drilling.stl" scale="0.001 0.001 0.001" />
         </geometry>
         <xacro:material_kuka_orange />
       </visual>
       <collision>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <origin xyz="-0.15 0 -0.1035" rpy="-${DEG2RAD * 90} -${DEG2RAD * 0} ${DEG2RAD * 90}"/>
         <geometry>
           <mesh filename="package://kuka_kr10_support/meshes/kr10r1100sixx/collision/proxxon_drilling.stl" scale="0.001 0.001 0.001" />
         </geometry>
       </collision>
       <inertial>
         <mass value="50" />
-        <origin xyz="0.05 0.00 -0.00" rpy="0 0 0" />
+        <origin xyz="-0.15 0 -0.1035" rpy="-${DEG2RAD * 90} -${DEG2RAD * 0} ${DEG2RAD * 90}" />
         <inertia ixx="0.00402901710341" ixy="0.000210543968708" ixz="4.6068390983e-05" iyy="0.00668778512296" iyz="1.26910167997e-06" izz="0.00711775677213" />
       </inertial>
     </link>
@@ -30,7 +30,7 @@
 
     <!-- joint between arm_6_link and drilling_tool_link -->
     <joint name="${prefix}joint_drilling_tool_link" type="fixed">
-      <origin xyz="0.0375 0 0" rpy="${DEG2RAD * 0} ${DEG2RAD * 0} ${DEG2RAD * 90}" />
+      <origin xyz="0.1035 0 -0.15" rpy="${DEG2RAD * 0} ${DEG2RAD * 90} ${DEG2RAD * 0}" />
       <parent link="${prefix}link_6"/>
       <child link="${prefix}drilling_tool_link"/>
       <axis xyz="1 0 0" />

kuka_rsi_hw_interface/test/test_hardware_interface.launch

@@ -6,7 +6,7 @@
 
     <!--param name="robot_description" command="$(find xacro)/xacro.py '$(find kuka_kr10_support)/urdf/kr10r1100sixx.xacro'"/-->
 
-<param name="robot_description" command="$(find xacro)/xacro.py '$(find fdcc)/urdf/kr10r1100sixx.urdf'"/>
+<param name="robot_description" command="$(find xacro)/xacro.py '$(find fdcc)/urdf/kuka_proxxon_drilling.urdf'"/>
 
     <rosparam file="$(find kuka_rsi_hw_interface)/test/test_params_sim.yaml" command="load" if="$(arg sim)"/>
     <rosparam file="$(find kuka_rsi_hw_interface)/test/test_params.yaml" command="load" unless="$(arg sim)"/>