Robot description for LBR IIWA 7 R800

[KlasKronander]

Created visual and collision mesh files from CAD on KUKA's webpage. Also added xacro/urdf files for the smaller version of the KUKA LBR IIWA. The kuka_lbr_iiwa_support now contains support for both models.

[KlasKronander]

Not sure why travis failed. It seems that the repo registered with travis but there is no travis.yml in the repo.

[gavanderhoorn]

Hi. Thanks for taking the time to contribute. Much appreciated.

Some remarks:

• looking at origins of the joints I notice two things:

  1. there are translations in more than one dimension (fi: joint_a2, both x and z): is this on purpose? Afaik there is only a translation over z going from joint_a1 to joint_a2 (similar for other transforms).
  2. the link lengths appear to be different from what this (random) brochure states.

  I know both of these points are also valid for the 14 r820 variant, but that is something to fix, and it would be nice if you could already do that for this variant (unless of course you have a valid reason for defining the transforms like this).

• could you please remove the Blender and 'original Collada' meshes from the meshes sub dir? While definitely important, we're trying not to bloat the support packages with those artefacts, as it will quickly make them very large. The idea is to eventually store such files in kuka-source_data. I will remove them for the 14 r820 from the lbr_iiwa_support as well.

• could you please add a test_lbr_iiwa_7_r800.launch file, similar to the one already in place for the 14 r820?

• could you please add a joint_names_lbr_iiwa_7_r800.yaml similar to the one that is already there.

• could you please update the package manifest (update the statement in the second paragraph of the description).

• (optional): revert the changes to the .gitignore file.

We can deal with the Blender and extra Collada files at a later time.

[gavanderhoorn]

Not sure why travis failed. It seems that the repo registered with travis but there is no travis.yml in the repo.

Exactly. That has nothing to with this PR.

[gavanderhoorn]

@KlasKronander: do you think you could look into at least the joint origins and translations? The rest I can easily fix myself.

[rkojcev]

I have quickly checked also the iiwa_stack which which is build based upon this stack over here. Also in that version the translations of the joint_6and joint_7 have translations in y and z...