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ros-industrial / fanuc

ROS-Industrial Fanuc support (http://wiki.ros.org/fanuc)
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CRX10 drivers and modules #316

Closed Juxi closed 2 years ago

Juxi commented 3 years ago

We have a potential project where we plan on using a FANUC CRX10, newer cobot variants. I can’t find information in the package about its compatibility with Ros (and Ros-industrial). I was wondering if there is some experience/knowledge about working with that manipulator.

We have cad files, and we can create urdfs out of these if that helps.

gavanderhoorn commented 3 years ago

All the drivers we have are robot and controller agnostic, so as long as there is still support for Karel and TP, things should start moving. I haven't checked personally, as I haven't had any time on a CRX or the newer controllers. But all it takes is starting up a roboguide simulation and following the regular installation tutorials of the Karel + TP programs.

You won't be able to exploit any of the "cobot features", but that would be a problem with any external form of control of the CRX I believe.

We have cad files, and we can create urdfs out of these if that helps.

A support package would indeed need the meshes and a xacro:macro. A xacro:macro is not that complex, and starting from something like the M-10iA support package should make the basic structure clear. It would then be a matter of updating link lengths, joint limits and the meshes.

Juxi commented 3 years ago

Great thanks, I will try to get the roboguide sim setup and let you know how it goes.

gavanderhoorn commented 3 years ago

There appears to be a user on ROS Answers who's created the support package already: Add a ROS package for an unsupported Fanuc robot model. Perhaps you could comment you can test it (also)?

Zedderrs commented 3 years ago

https://github.com/ros-industrial/fanuc/pull/320 aims to implement the crx10ial

gavanderhoorn commented 2 years ago

With the merge of ros-industrial/fanuc_experimental#67, there is now a basic support package for the CRX-10iA/L.

Even though that doesn't include the base CRX-10iA/L, I'm going to close this issue, as the non-/L would be "just another variant" and should not be difficult to add.