Support for Kuka KR8 about

[frkngltk]

Hello,

I have a robot model Kuka KR8 1620. I am aiming to use ROS for motion planning for this robot. To begin with, I have a work with EthernetKRL (EKI). There is no support for KR8 in the Kuka_experimental repository. As a result of this situation, I am creating my own ROS infrastructure. But at some points I had questions. These;

1. I know that the easiest method to create the .xacro file is that the 3D model can be created with Solid or other programs. However, I could not find a 3D model of this product on the internet and the forum sites I follow. I did not prefer the .xacro file creation structure from the relevant ros_wiki page because it would take a long time. I also think that a ready-made product has a .xacro file. How can I get this file? Unfortunately, I do not have the opportunity to change the robot.
2. With this structure I created with KR8, I will use it for motion planning, which I mentioned above. When I followed the headings specified in the kuka_eki_hw_interface field in this section, I could not see a certain explanation as to where the .launch file of the related robot was used with EKI. I would be glad if you could provide information on the subject.

Thanks a lot!
Furkan

[simonschmeisser]

You can find data sheets (pdf) and mesh files (STEP) on the Kuka website. Then you can copy & paste any of the existing models and adapt anything that differs. I tend to use FreeCAD to separate the Step file to multiple stl files. Meshlab for the convex hull for the collision models.

Once you are done please open a pull request (PR) so we can collaborate on including it in the kuka_experimental git.

Note that this here is a community effort with unfortunately no official support from Kuka, so work is done by volunteers and can take some time.

[frkngltk]

I understand. Thank you for your recommendation. Of course, I would like to share the files we will create for the KR8.

Thanks a lot!
Furkan