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ros-industrial / fanuc

ROS-Industrial Fanuc support (http://wiki.ros.org/fanuc)
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Fanuc on ROS2 #298

Closed jan-kacina closed 3 years ago

jan-kacina commented 3 years ago

Hi guys, I would like to control Fanuc robot using ROS2, not only due to better performance but mainly due to unsupported Python required by ROS1.

Do you plan to implement Fanuc package also for ROS2? Or in more general scope, will be ROS Industrial upgraded for ROS2? If not in near future, have you tried how ROS1 Bridge works with Fanuc?

Thanks and regards, Jan

gavanderhoorn commented 3 years ago

Porting the driver to ROS 2 will not result in better performance. The bottleneck is not on the ROS side, but on the Fanuc side (more specifically: in the way the Karel and TP code is written).

Replacing ROS 1 with ROS 2 will not influence this.

mainly due to unsupported Python required by ROS1.

ROS Noetic supports Python 3.8 compatible. Is that not sufficient?

Do you plan to implement Fanuc package also for ROS2?

Not right now.

Ideally, I'd like to do away with anything simple_message based, and fanuc_driver and fanuc_driver_exp are simple_message based.

Or in more general scope, will be ROS Industrial upgraded for ROS2?

I can't comment on that here in this repository.

If not in near future, have you tried how ROS1 Bridge works with Fanuc?

I've not tried it, but seeing as the only thing you do is send FollowJointTrajectory goals at a very low frequency (I would almost say ad-hoc), I don't expect there to be much problems. You would need to use something like https://github.com/ros2/ros1_bridge/pull/256 though, as the standard bridge does not support actions natively.

gavanderhoorn commented 3 years ago

As this is more of a question than an actionable issue, I'm going to close it.

Feel free to keep commenting on it of course.

jan-kacina commented 3 years ago

Hi @gavanderhoorn, thanks for the quick response. Just a few clarifications missing in my original post...

Just one question remains... Based on this table, Fanuc packages are available only for Kinetic. Will it be upgraded for Noetic? Or can I use Kinetic packages somehow in Noetic?

Thanks.

gavanderhoorn commented 3 years ago

You should be able to build the packages in a catkin_ws with Noetic as well.

See the Building section in the readme.