G.A. vd. Hoorn

rsi_hw_iface: "1073: Command gear torque An" error on any use

22

Context: - robot: KR 210 - controller: KR C4 (v8.3.22) - RSI: 3.3 - afaict payload is configured correctly - controller in T2 Set up `kuka_rsi_hw_interface` and the controller as...

kr210_support: suspicious mass values in L150 xacro

4

The `inertial` element of the KR 210 L150 xacro macro contains a suspicious value for the `mass` of `base_link` ([here](https://github.com/ros-industrial/kuka_experimental/blob/105838a1edef85c300a83cd65b167f9592905a1c/kuka_kr210_support/urdf/kr210l150_macro.xacro#L12)). The base is probably heavy, but `1572.9` Kg seems a...

kr210: update xacro to comply with actual kinematic chain

16

As reported in #97, the [KR 210 L150 xacro](https://github.com/ros-industrial/kuka_experimental/blob/618c292a98d18327a5cb8d5dda7e6806e10a9cd9/kuka_kr210_support/urdf/kr210l150_macro.xacro) in `kuka_kr210_support` is not correct, in that the origins of the joints don't correspond to the internal model of the robot....

Dependency on JSC and JTC missing?

7

As confirmed in https://github.com/ros-industrial/kuka_experimental/issues/101#issuecomment-360398408, none of the packages in `kuka_experimental` have a dependency on `joint_state_controller` or `joint_trajectory_controller`. This can lead to users - with a minimal ROS install (ie: no...

rsi_hw_interface: improve example bringup launch files

4

The `kuka_rsi_hw_interface` package already includes a number of example launch files, but it would be nice to have a single set of examples that clearly shows (and documents) how to...

rsi_simulator: allow specifying an initial state

4

This is currently hard-coded to `[0, -90, 90, 0, 90, 0]`, but that doesn't work for all robots, so should be made configurable. Might be nice to re-use the way...

rsi_hw_iface: decide whether AXISCORRMON object should be kept

1

From https://github.com/ros-industrial/kuka_experimental/pull/54#issuecomment-240946668: > I am uncertain if the `AXISCORRMON` object is really needed and should be removed.

Current implementation only uses `controller_joint_names` parameter, which is sometimes not what we want. It does however allow to easily specify only a subset of the joints present in the URDF,...

kr210: missing 'base' coordinate frame

1

The `kuka_kr210l150` macro does not define a `base` coordinate transform. It does include a `tool0` one. The `base` transform should be added. See [kr120r2500pro_macro.xacro](https://github.com/ros-industrial/kuka_experimental/blob/30c1c80498d8d5f1e57602d69ca7e3bb117dadb8/kuka_kr120_support/urdf/kr120r2500pro_macro.xacro#L210-L216) for an example (values will have...

[rdiankov/collada_robots](https://github.com/rdiankov/collada_robots) contains a nr of KUKA models in Collada format, so that would make the task of adding them as (or to) support pkgs a bit easier.