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IvoD1998 / Staubli_ROS2

ROS2 driver for Staubli robots running a CS9 controller
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CS8 support? #1

Closed lepalom closed 7 months ago

lepalom commented 7 months ago

I know that as you are using adaptive_motion_control you need the Motion ADD ON, that it is also in the CS8 controllers. But I don't know if there are more requirements.

Do you know if this driver is working with the CS8 controller with the Motion plugin?

IvoD1998 commented 7 months ago

When going from the CS8 controller to the CS9 variant used here, some of the syntax used on the VAL3 side of the driver had to be changed as some commands had changed in the new CS9 version. In order to make this driver work on a CS8 controller, the VAL3 implementation of the adaptive_motion_control should be reinstated instead. CS8 compatibility was not on our radar as we do not have any CS8-based robots.

lepalom commented 7 months ago

@IvoD1998 , then, should I understand that using the original version of the adaptive_motion_control) should be enough? Or, did you do more changes than the proposed staubli val3 driver with Motion from FAPS?

IvoD1998 commented 7 months ago

Although I cannot confirm this as we haven't done any testing on CS8-based robots, I expect that this could work. On the VAL3 side of the driver, most of the updates were made to get the adaptive motion control working on the CS9 controller. If you find that using these VAL3 components makes the driver compatible with CS8-based models in ROS2, please let me know. In that case it could be interesting to add a CS8 branch to the repository.

lepalom commented 7 months ago

Sure, I will try to work on it in the next weeks. Thx