Feature/mobile robot support

README.md

@@ -19,6 +19,8 @@ Github CI
 - `kuka_lbr_iiwa_support` contains urdf, config and mesh files for KUKA LBR iiwa robots
 - `kuka_lbr_iiwa_moveit_config` contains configuration files for KUKA LBR iiwa robots necessary for planning with MoveIt.
 - `kuka_mock_hardware_interface` contains a custom mock hardware interface for KUKA robots
+- `kuka_kmr_iisy_support` contains urdf, config and mesh files for KUKA KMR iisy mobile robot platform.
+
 
 ## Structure of the support packages
 

kuka_kmr_iisy_support/CMakeLists.txt

@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 3.5)
+project(kuka_kmr_iisy_support)
+
+find_package(ament_cmake REQUIRED)
+find_package(urdf REQUIRED)
+find_package(xacro REQUIRED)
+
+install(DIRECTORY  launch meshes urdf config
+  DESTINATION share/${PROJECT_NAME})
+
+
+ament_package()

kuka_kmr_iisy_support/launch/test_kmr_iisy.launch.py

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+# Copyright 2024 Mihaly Kristofi
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+from launch import LaunchDescription
+from launch.substitutions import Command, FindExecutable, PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    robot_description_content = Command(
+        [
+            PathJoinSubstitution([FindExecutable(name="xacro")]),
+            " ",
+            PathJoinSubstitution(
+                [FindPackageShare("kuka_kmr_iisy_support"), "urdf", "kmr_iisy.urdf.xacro"]
+            ),
+            " ",
+            "use_fake_hardware:=true",
+        ]
+    )
+
+    robot_description = {"robot_description": robot_description_content}
+
+    # RViz
+    rviz_config_file = PathJoinSubstitution(
+        [FindPackageShare("kuka_resources"), "config", "view_kmr_iisy_urdf.rviz"]
+    )
+    rviz_node = Node(
+        package="rviz2",
+        executable="rviz2",
+        name="rviz2_launch",
+        output="log",
+        arguments=["-d", rviz_config_file],
+        parameters=[robot_description],
+    )
+
+    # Publish TF
+    robot_state_publisher = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        name="robot_state_publisher",
+        output="both",
+        parameters=[robot_description],
+    )
+
+
+
+    return LaunchDescription([robot_state_publisher, rviz_node])

kuka_kmr_iisy_support/package.xml

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+<?xml version="1.0"?>
+<package format="3">
+  <name>kuka_kmr_iisy_support</name>
+  <version>0.0.1</version>
+  <description>Package with URDF and description files of a KUKA KMR iisy differential drive mobile robot.</description>
+  <maintainer email="krmihaly42@gmail.com">Kristófi Mihály</maintainer>
+  <license>Apache-2.0</license>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>urdf</depend>
+  <depend>xacro</depend>
+  <exec_depend>launch_ros</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
+  <exec_depend>kuka_resources</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz2</exec_depend>
+
+  <export>
+    <architecture_independent/>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

kuka_kmr_iisy_support/urdf/kmr_iisy.urdf.xacro

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+<?xml version="1.0"?>
+<!-- Basic KUKA mobile base -->
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="kmr_iisy">
+<!-- Import mrob urdf file  -->
+  <xacro:include filename="$(find kuka_kmr_iisy_support)/urdf/kmr_iisy_macro.xacro" />
+
+   <!-- Read additional arguments  -->
+  <xacro:arg name="prefix" default=""/>
+  <xacro:arg name="controller_ip" default="0.0.0.0"/>
+  <xacro:arg name="client_ip" default="0.0.0.0"/>
+  <xacro:arg name="use_fake_hardware" default="false"/>
+  <xacro:arg name="roundtrip_time" default="0"/>
+  <xacro:arg name="qos_config_file" default=""/>
+  <xacro:arg name="x" default="0"/>
+  <xacro:arg name="y" default="0"/>
+  <xacro:arg name="z" default="0"/>
+  <xacro:arg name="roll" default="0"/>
+  <xacro:arg name="pitch" default="0"/>
+  <xacro:arg name="yaw" default="0"/>
+  <xacro:mrob_kuka prefix="$(arg prefix)" controller_ip="$(arg controller_ip)" client_ip="$(arg client_ip)" use_fake_hardware="$(arg use_fake_hardware)" roundtrip_time="$(arg roundtrip_time)" qos_config_file="$(arg qos_config_file)">
+    <origin xyz="$(arg x) $(arg y) $(arg z)" rpy="$(arg roll) $(arg pitch) $(arg yaw)"/>
+  </xacro:mrob_kuka>
+</robot>