gavanderhoorn
commented
9 years ago I am working on getting the fanuc M710ic working with ROS. It uses a R30iB controller. I followed all the instructions and am running rosstate on the TP while I issue my ROS commands. I am able to use the files for 200ic and am able to read the robot states. I confirmed this by viewing the manipulator move in RVIZ when I jogged the robot.
Ok, so steps 1 & 2 of Running the ROS-Industrial programs on your Fanuc robot are successful? The robot visualised in RViz shows the same motion as the real one.
However, I am not able to send control commands to the robot,
Is this still with only rosstate running on the robot?
When I try plan and execute in moveit I always get "controller is taking too long, aborting move" error. IF I set the execution monitoring parameter to false, then nothing happens, moveit just keeps on "executing" it. This seems to indicate that either the command is not reaching the controller or the controller is not able to read the command correctly.
Again: you're only running rosstate at this point?
Is there any way to fix this problem?
If you answered yes to all my questions, then you should essentially move to step 3 of the tutorial I linked ("On the TP, start the ros TPE program"). In order for the robot to execute your trajectories, you need to be running the ros TP program. rosstate, as the name implies, only broadcasts joint states, it cannot perform any motion.
Does this problem have to do with me using the 200ic support files for a 700ic model?
So no, it does not, as far as I can tell.
You will however run into issues with collision avoidance and path planning in Cartesian space. Without a proper model of your actual robot, MoveIt (or any planner) cannot plan correctly for your robot. It's entirely up to you, but I recommend to first create a support pkg for your particular robot model and variant.
Also, I was wondering if there was a way to bypass the moveit trajectory planner and directly use the in-built IK solver on the fanuc robots, essentially by just issuing a location command through a string of something which the controller can read and use its own IK solver to do its movements.
No, not at this time. The simple_message protocol does not have support for Cartesian motion primitives at this time, and that is what the fanuc_driver package uses to communicate with the programs running on the controller.
Proper Cartesian support is actually rather tricky, especially if you want to abstract over a heterogeneous set of motion controllers. A proposal to add this to simple_message was recently submitted though, see ros-industrial/rep#12.
An alternative might be to generate a set of ROS Poses, use IK to turn those into joint space targets and send that as a JointTrajectory msg to the ROS-Industrial joint_trajectory_action node on /joint_path_command. You'll have to make sure your trajectory is smooth, all points are reachable by the robot, add timing info (ie: time_from_start) and do all collision checking yourself.
Another alternative might be to make use of something like descartes.
PS: could you please post general support questions like this either to the ROS-Industrial mailing list or on ROS Answers? Just tag it appropriately (fanuc, fanuc_driver, ros_industrial, etc) and I'll make sure to respond there. This issue tracker is mostly used for reporting actual defects and feature requests. Thank you.
sudarshan85
Hey,
I am working on getting the fanuc M710ic working with ROS. It uses a R30iB controller. I followed all the instructions and am running rosstate on the TP while I issue my ROS commands. I am able to use the files for 200ic and am able to read the robot states. I confirmed this by viewing the manipulator move in RVIZ when I jogged the robot. However, I am not able to send control commands to the robot, When I try plan and execute in moveit I always get "controller is taking too long, aborting move" error. IF I set the execution monitoring parameter to false, then nothing happens, moveit just keeps on "executing" it. This seems to indicate that either the command is not reaching the controller or the controller is not able to read the command correctly.
Is there any way to fix this problem? Does this problem have to do with me using the 200ic support files for a 700ic model?
Also, I was wondering if there was a way to bypass the moveit trajectory planner and directly use the in-built IK solver on the fanuc robots, essentially by just issuing a location command through a string of something which the controller can read and use its own IK solver to do its movements.
Thanks.