Overview

This package enables specific ROS nodes to communicate with Fanuc industrial robot controllers, using the protocol defined in the simple_message package. Only joint position streaming is supported (packet type: JOINT_TRAJ_PT), with the controller currently overriding commanded velocity with a constant one. Trajectory downloading, velocity or force control are not yet supported. See the relevant sections of the Industrial Robot Driver Specification and the HardwareCompatibility page for more information.

On the robot controller side, two KAREL programs implement the joint state proxy and the trajectory relay, transmitting joint states and receiving joint position set points respectively. These programs should work on most Fanuc controller cabinets, and have been tested on a R-30iA with an M-10iA, M-16iB/20, M-430iA/2F. Additionally, versions 7 and 8 of Roboguide HandlingPro have been successfully used, with the same hardware setups as well as a simulated version of the M-430iA/2P.

Requirements

In order to be able to run the KAREL programs in this package on the Fanuc controller, the following options need to be present (in addition to basic networking and TCP/IP support):

• R632 - KAREL
• R648 - User Socket Messaging

While not strictly necessary, the use of the Fanuc Roboguide environment is recommended, as it can be used for simulation as well as configuration of the actual controller hardware.

Tutorials

Use the links on the Tutorials page for access to the tutorials. These explain how to install and set up the KAREL programs on the controller, as well as how to use them in conjunction with the ROS nodes in this package.

Troubleshooting

See the Troubleshooting page for a listing of common errors and possible solutions.