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ros-controls / ros_control

Generic and simple controls framework for ROS
http://wiki.ros.org/ros_control
BSD 3-Clause "New" or "Revised" License
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Controller and Hardware Interface for I/O application #347

Open piyush2307 opened 5 years ago

piyush2307 commented 5 years ago

All industrial robots uses I/O to communicate with external environment. If I/O's are provided in controller level, it will be easy to control trajectory with I/O. I/Os can be digital or analog.

mathias-luedtke commented 5 years ago

I have started to implement a prototype (msgs, HW interface, controller), but I had to postpone it for now.

piyush2307 commented 5 years ago

can you link it here ? I am having problem in creating custom HardwareInterface for I/O.

mikepurvis commented 5 years ago

@ipa-mdl We've started to do some work around generic ros_control hardware plugins for register-type interfaces (canopen, modbus, profinet, etc). If you're interested to perhaps collaborate on some of this, feel free to get in touch.

gavanderhoorn commented 5 years ago

@ipa-mdl @mikepurvis: did you guys end-up taking this any further? I'm in a project that would need something similar and I'd like to avoid duplicating your efforts.

My underlying hw is not register-based, but that is an implementation detail.

mikepurvis commented 5 years ago

@gavanderhoorn We've done some work on it, but it's not in a publicly-releasable state. If you're interested to take a look and see if it's a design direction which interests you, I can upload it to a private github repo and you can take a look.

gavanderhoorn commented 5 years ago

@mikepurvis wrote:

If you're interested to take a look and see if it's a design direction which interests you, I can upload it to a private github repo and you can take a look.

Late reply, but yes, I would be interested.

farshbafdoustar commented 4 years ago

Hi @gavanderhoorn, @ipa-mdl and @mikepurvis: Is there any news about these I/O HW interfaces?

I have already started wraping Profinet I/O and Profinet Drive(Telegram 111 and Telegram 3) profiles as ROS_CONTROL HW interfaces in a project to make a general Profinet HW interface compatible to existing position & velocity interfaces + non existing I/O interfaces.

That would be nice to know if there is any further advancement on this topic to be compatible with that and to avoid duplicating your efforts + of course contributing to what you have already started.

gavanderhoorn commented 4 years ago

No, I don't have any news.

The offer by @mikepurvis was/is interesting, but I don't believe he found the time to upload what he referred to.

I'd still be interested.

have already started wraping Profinet I/O and Profinet Drive(Telegram 111 and Telegram 3) profiles as ROS_CONTROL HW interfaces in a project to make a general Profinet HW interface compatible to existing position & velocity interfaces + non existing I/O interfaces.

do you have any repository where you're doing this?

I'd be interested to follow your development.