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 :

• To load the Gen3 lite description, you would put in your launch file :

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

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>

Changelog for package kortex_description

0.2.2 (2023-08-09)

• Refactor MoveIt Launch files (#162)
• Add use_external_cable parameter to URDF (#155)
• Contributors: Anthony Baker

0.2.1 (2023-07-26)

• fix missing dependencies (#152) This fixes missing dependencies which were available from source build but were missing from released binary
• Contributors: Alex Moriarty

0.2.0 (2023-07-17)

• Initial Public ROS 2 release of kortex_description
• Make Gripper velocity and force configurable through URDF (#137)
• rename kortex2 -> kortex (#144)
• Fault and Twist controller from new repo (#143)
• Add camera to 7dof gen3 ignition sim (#141)
• Remove circular dependency between Description and bringup package (#123)
• Add moveit config for 6dof gen 3 (#109)
• Add MoveIt Config for 7dof arm with robotiq_2f_85 gripper (#107)
• Convert package to use robotiq_description and update xacros (#95)
  • add sim_isaac arg to gen3.xacro
• Update gen3 URDF mesh path (#79)
• Support Gen3 lite Hardware (#73)
  • Improve Protective Stop Reset and General Driver Robusteness (#75)
• Add support for ros2_control of the kinova gen3 lite (#72)
• Revert joint2 limit to factory values (#70)
• Kortex fixes for simulations (#64)
• Gripper controller adaptation (#66)
• Remove ros1 files (#62)
• Add conditional finger joint import. (#57)
• Add default params for easier use in simulation. (#56)
• Changes after debugging on real hardware (#51)
• Additional parametrization (#47)
• Use gripper through internal bus extension (#38)
• Contributors: Alex Moriarty, Anthony Baker, Denis