iiwa7 -> iiwa7_r800

mhubii · mhubii · commit edbb6642de07 · 2026-01-30T11:56:08.000Z
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.22)
-project(iiwa7_description)
+project(iiwa7_r800_description)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
diff --git a/README.md b/README.md
@@ -3,7 +3,7 @@ Launch an example using
 
 ```shell
 ros2 launch \
-    iiwa7_description \
+    iiwa7_r800_description \
     view_robot.launch.py
 ```
 
diff --git a/iiwa7_r800_description.dsv b/iiwa7_r800_description.dsv
diff --git a/launch/view_robot.launch.py b/launch/view_robot.launch.py
@@ -29,7 +29,9 @@ def generate_launch_description() -> LaunchDescription:
                             [
                                 FindExecutable(name="xacro"),
                                 " ",
-                                PathSubstitution(FindPackageShare("iiwa7_description"))
+                                PathSubstitution(
+                                    FindPackageShare("iiwa7_r800_description")
+                                )
                                 / "urdf"
                                 / "iiwa7.urdf.xacro",
                                 " robot_name:=",
@@ -53,7 +55,7 @@ def generate_launch_description() -> LaunchDescription:
                 arguments=[
                     [
                         "-d",
-                        PathSubstitution(FindPackageShare("iiwa7_description"))
+                        PathSubstitution(FindPackageShare("iiwa7_r800_description"))
                         / "rviz"
                         / "view_robot.rviz",
                     ]
diff --git a/package.xml b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>iiwa7_description</name>
+  <name>iiwa7_r800_description</name>
   <version>2.5.0</version>
   <description>KUKA LBR IIWA 7 R800 description files</description>
   <maintainer email="m.huber_1994@hotmail.de">mhubii</maintainer>
diff --git a/urdf/iiwa7_r800.urdf.xacro b/urdf/iiwa7_r800.urdf.xacro
@@ -3,17 +3,17 @@
 <!-- top level -->
 <robot name="iiwa7" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-    <!-- include the iiwa7 macro -->
-    <xacro:include filename="$(find iiwa7_description)/urdf/iiwa7_macro.xacro" />
+    <!-- include the iiwa 7 R800 macro -->
+    <xacro:include filename="$(find iiwa7_r800_description)/urdf/iiwa7_r800_macro.xacro" />
 
     <!-- arguments -->
     <xacro:arg name="robot_name" default="lbr" />
     <xacro:arg
         name="joint_limits_path"
-        default="$(find iiwa7_description)/config/joint_limits.yaml" />
+        default="$(find iiwa7_r800_description)/config/joint_limits.yaml" />
 
-    <!-- iiwa7 description -->
-    <xacro:iiwa7
+    <!-- iiwa 7 R800 description -->
+    <xacro:iiwa7_r800
         robot_name="$(arg robot_name)"
         joint_limits_path="$(arg joint_limits_path)" />
 </robot>
diff --git a/urdf/iiwa7_r800_macro.xacro b/urdf/iiwa7_r800_macro.xacro
@@ -2,8 +2,8 @@
 
 <root xmlns:xacro="http://www.ros.org/wiki/xacro">
     <!-- robot as extracted via https://github.com/syuntoku14/fusion2urdf -->
-    <xacro:macro name="iiwa7"
-        params="robot_name:=^|lbr joint_limits_path:=^|'$(find iiwa7_description)/config/joint_limits.yaml'">
+    <xacro:macro name="iiwa7_r800"
+        params="robot_name:=^|lbr joint_limits_path:=^|'$(find iiwa7_r800_description)/config/joint_limits.yaml'">
 
         <!-- load joint limits via yaml -->
         <xacro:property name="joint_limits" value="${xacro.load_yaml(joint_limits_path)}" />
@@ -24,13 +24,13 @@
             <visual>
                 <origin rpy="0 0 0" xyz="0 0 0" />
                 <geometry>
-                    <mesh filename="package://iiwa7_description/meshes/visual/link_0.dae" />
+                    <mesh filename="package://iiwa7_r800_description/meshes/visual/link_0.dae" />
                 </geometry>
             </visual>
             <collision>
                 <origin rpy="0 0 0" xyz="0 0 0" />
                 <geometry>
-                    <mesh filename="package://iiwa7_description/meshes/collision/link_0.stl" />
+                    <mesh filename="package://iiwa7_r800_description/meshes/collision/link_0.stl" />
                 </geometry>
             </collision>
         </link>
@@ -63,13 +63,13 @@
             <visual>
                 <origin rpy="0 0 0" xyz="0.0 0.0 -0.1475" />
                 <geometry>
-                    <mesh filename="package://iiwa7_description/meshes/visual/link_1.dae" />
+                    <mesh filename="package://iiwa7_r800_description/meshes/visual/link_1.dae" />
                 </geometry>
             </visual>
             <collision>
                 <origin rpy="0 0 0" xyz="0.0 0.0 -0.1475" />
                 <geometry>
-                    <mesh filename="package://iiwa7_description/meshes/collision/link_1.stl" />
+                    <mesh filename="package://iiwa7_r800_description/meshes/collision/link_1.stl" />
                 </geometry>
             </collision>
         </link>
@@ -102,13 +102,13 @@
             <visual>
                 <origin rpy="0 0 0" xyz="0.0 0.0105 -0.34" />
                 <geometry>
-                    <mesh filename="package://iiwa7_description/meshes/visual/link_2.dae" />
+                    <mesh filename="package://iiwa7_r800_description/meshes/visual/link_2.dae" />
                 </geometry>
             </visual>
             <collision>
                 <origin rpy="0 0 0" xyz="0.0 0.0105 -0.34" />
                 <geometry>
-                    <mesh filename="package://iiwa7_description/meshes/collision/link_2.stl" />
+                    <mesh filename="package://iiwa7_r800_description/meshes/collision/link_2.stl" />
                 </geometry>
             </collision>
         </link>
@@ -141,13 +141,13 @@
             <visual>
                 <origin rpy="0 0 0" xyz="0.0 0.0 -0.5475" />
                 <geometry>
-                    <mesh filename="package://iiwa7_description/meshes/visual/link_3.dae" />
+                    <mesh filename="package://iiwa7_r800_description/meshes/visual/link_3.dae" />
                 </geometry>
             </visual>
             <collision>
                 <origin rpy="0 0 0" xyz="0.0 0.0 -0.5475" />
                 <geometry>
-                    <mesh filename="package://iiwa7_description/meshes/collision/link_3.stl" />
+                    <mesh filename="package://iiwa7_r800_description/meshes/collision/link_3.stl" />
                 </geometry>
             </collision>
         </link>
@@ -180,13 +180,13 @@
             <visual>
                 <origin rpy="0 0 0" xyz="0.0 -0.0105 -0.74" />
                 <geometry>
-                    <mesh filename="package://iiwa7_description/meshes/visual/link_4.dae" />
+                    <mesh filename="package://iiwa7_r800_description/meshes/visual/link_4.dae" />
                 </geometry>
             </visual>
             <collision>
                 <origin rpy="0 0 0" xyz="0.0 -0.0105 -0.74" />
                 <geometry>
-                    <mesh filename="package://iiwa7_description/meshes/collision/link_4.stl" />
+                    <mesh filename="package://iiwa7_r800_description/meshes/collision/link_4.stl" />
                 </geometry>
             </collision>
         </link>
@@ -219,13 +219,13 @@
             <visual>
                 <origin rpy="0 0 0" xyz="0.0 0.0 -0.9475" />
                 <geometry>
-                    <mesh filename="package://iiwa7_description/meshes/visual/link_5.dae" />
+                    <mesh filename="package://iiwa7_r800_description/meshes/visual/link_5.dae" />
                 </geometry>
             </visual>
             <collision>
                 <origin rpy="0 0 0" xyz="0.0 0.0 -0.9475" />
                 <geometry>
-                    <mesh filename="package://iiwa7_description/meshes/collision/link_5.stl" />
+                    <mesh filename="package://iiwa7_r800_description/meshes/collision/link_5.stl" />
                 </geometry>
             </collision>
         </link>
@@ -258,13 +258,13 @@
             <visual>
                 <origin rpy="0 0 0" xyz="0.0 0.0707 -1.14" />
                 <geometry>
-                    <mesh filename="package://iiwa7_description/meshes/visual/link_6.dae" />
+                    <mesh filename="package://iiwa7_r800_description/meshes/visual/link_6.dae" />
                 </geometry>
             </visual>
             <collision>
                 <origin rpy="0 0 0" xyz="0.0 0.0707 -1.14" />
                 <geometry>
-                    <mesh filename="package://iiwa7_description/meshes/collision/link_6.stl" />
+                    <mesh filename="package://iiwa7_r800_description/meshes/collision/link_6.stl" />
                 </geometry>
             </collision>
         </link>
@@ -297,13 +297,13 @@
             <visual>
                 <origin rpy="0 0 0" xyz="0.0 0.0 -1.231" />
                 <geometry>
-                    <mesh filename="package://iiwa7_description/meshes/visual/link_7.dae" />
+                    <mesh filename="package://iiwa7_r800_description/meshes/visual/link_7.dae" />
                 </geometry>
             </visual>
             <collision>
                 <origin rpy="0 0 0" xyz="0.0 0.0 -1.231" />
                 <geometry>
-                    <mesh filename="package://iiwa7_description/meshes/collision/link_7.stl" />
+                    <mesh filename="package://iiwa7_r800_description/meshes/collision/link_7.stl" />
                 </geometry>
             </collision>
         </link>

Original file line number	Diff line number	Diff line change
`@@ -29,7 +29,9 @@ def generate_launch_description() -> LaunchDescription:`
`29`	`29`	`[`
`30`	`30`	`FindExecutable(name="xacro"),`
`31`	`31`	`" ",`
`32`		`- PathSubstitution(FindPackageShare("iiwa7_description"))`
	`32`	`+ PathSubstitution(`
	`33`	`+ FindPackageShare("iiwa7_r800_description")`
	`34`	`+ )`
`33`	`35`	`/ "urdf"`
`34`	`36`	`/ "iiwa7.urdf.xacro",`
`35`	`37`	`" robot_name:=",`
`@@ -53,7 +55,7 @@ def generate_launch_description() -> LaunchDescription:`
`53`	`55`	`arguments=[`
`54`	`56`	`[`
`55`	`57`	`"-d",`
`56`		`- PathSubstitution(FindPackageShare("iiwa7_description"))`
	`58`	`+ PathSubstitution(FindPackageShare("iiwa7_r800_description"))`
`57`	`59`	`/ "rviz"`
`58`	`60`	`/ "view_robot.rviz",`
`59`	`61`	`]`