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Kortex Description

This package contains the URDF (Unified Robot Description Format), STL and configuration files for the Kortex-compatible robots.

Usage

To load the description of a robot, you simply have to load the ARM.xacro or the ARM_GRIPPER.xacro file, with ARM being your arm's name (gen3, gen3_lite), and if you have a gripper, GRIPPER being your gripper's name (robotiq_2f_85, gen3_lite_2f).

Arguments:

  • sim : If this argument is true, the Gazebo-specific files will be loaded. The default value is **false **.

For example:

  • To load the Gen3 description with a Robotiq 2-F 85 gripper for simulation, you would put in your launch file : <param name="robot_description" command="$(find xacro)/xacro --inorder $(find kortex_description)/robots/gen3_robotiq_2f_85.xacro sim:=true"/>

  • To load the Gen3 lite description, you would put in your launch file : <param name="robot_description" command="$(find xacro)/xacro --inorder $(find kortex_description)/robots/gen3_lite_gen3_lite_2f.xacro sim:=false"/>

Tool frame

The tool_frame link refers to the tool frame used by the arm when it reports end effector position feedback.

Xacro Parameters for load_robot macro

Parameter Table

Param Description Default
parent Parent link in the URDF the arm should be attached to -
origin Origin of the robot relative to the specified parent link -
prefix This is an optional prefix for all joint and link names in the kortex_description. It is used to allow differentiating between different arms in the same URDF. -
arm Name of your robot arm model. -
gripper Name of gripper type -
gripper_joint_name Name of gripper joint to be actuated -
dof Number of DOFs of your robot. -
vision Boolean value to indicate if your arm has a Vision Module. This argument only affects the visual representation of the arm in RViz. -
robot_ip The IP address of the robot you're connection to. -
username The username for the robot connection. -
password The password for the robot connection. -
port Port for Kortex hardware driver -
port_realtime Realtime port for Kortex hardware driver -
session_inactivity_timeout_ms The duration after which the robot will clean the client session if the client hangs up the connection brutally (should not happen with the ROS driver). -
connection_inactivity_timeout_ms The duration after which a connection is destroyed by the robot if no communication is detected between the client and the robot. -
use_internal_bus_gripper_comm Boolean value to indicate if your gripper will be communicated with through the internal Kinova communication interface. Set to true if the gripper is directly plugged into the kinova arm. Set to false if running in simulation or if gripper is connected to PC via USB. Setting to false will create a ros2_control instance for the gripper. false
use_fake_hardware Boolean value to indicate whether or not the hardware components will be mocked. If true the hardware params will be ignored and the hardware components will be mocked. false
fake_sensor_commands Boolean value. If set to true will create fake command interfaces for faking sensor measurements with an external command. false
sim_gazebo Boolean value to indicate whether or not the gazebo_ros2_control/GazeboSystem plugin will be loaded. false
sim_ignition Boolean value to indicate whether or not the ign_ros2_control/IgnitionSystem plugin will be loaded. false
sim_isaac Boolean value to indicate whether or not the topic_based_ros2_control/TopicBasedSystem plugin will be loaded and the "joint_commands_topic" and "joint_states_topic" parameters will be set to the isaac_joint_commands and isaac_joint_states values respectively. false
isaac_joint_commands Name of the joint commands topic to be used by Isaac Sim. /isaac_joint_commands
isaac_joint_states Name of the joint states topic to be used by Isaac Sim. /isaac_joint_states
use_external_cable Boolean value that sets joint limits to avoid wrapping of external cables if true. false
initial_positions Dictionary of initial joint positions. {joint_1: 0.0, joint_2: 0.0, joint_3: 0.0, joint_4: 0.0, joint_5: 0.0, joint_6: 0.0, joint_7: 0.0}
gripper_max_velocity Desired velocity in percentage (0.0-100.0%) with which the position will be set. 100.0
gripper_max_force Desired force in percentage (0.0-100.0%) with which the position will be set. NOTE: deprecated according to the Kortex repo. 100.0
gripper_com_port Specifies the USB port that the gripper is plugged in on. This will only be used if use_internal_bus_gripper_comm is false. /dev/ttyUSB0

Example Usage

Kinova gen3 with robotiq_2f_85 end effector connected via the internal Kinova communication interface

<robot ...>
...
  <xacro:property name="initial_positions" value="${dict(joint_1=0.0, joint_2=0.0, joint_3=-3.14, joint_4=-2.51, joint_5=0.0, joint_6=0.96, joint_7=1.57)}"/>
  <xacro:load_robot
    parent="world"
    arm="gen3"
    gripper="robotiq_2f_85"
    gripper_joint_name="robotiq_85_left_knuckle_joint"
    dof="7"
    vision="true"
    robot_ip="192.168.1.10"
    username="admin"
    password="admin"
    port="10000"
    port_realtime="10001"
    session_inactivity_timeout_ms="60000"
    connection_inactivity_timeout_ms="2000"
    use_internal_bus_gripper_comm="true"
    sim_gazebo="false"
    sim_ignition="false"
    sim_isaac="false"
    prefix=""
    use_fake_hardware="false"
    initial_positions="${initial_positions}"
    use_external_cable="true"
    fake_sensor_commands="false"
    gripper_com_port="">
    <origin xyz="0 0 0.0" rpy="0 0 0" />
  </xacro:load_robot>
...
</robot>