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ros-industrial / staubli_experimental

Experimental packages for Staubli manipulators within ROS-Industrial (http://wiki.ros.org/staubli_experimental)
Apache License 2.0
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driver: compatibility with Scaras #36

Closed gavanderhoorn closed 5 years ago

gavanderhoorn commented 5 years ago

Somewhat of a note/experience log: last week I had a chance to test the driver with a CS8C/TS60 combo.

As I didn't have access to SRS, I implemented some very quick-and-dirty hacks to get the current driver to work with that system, mostly based on this https://github.com/ros-industrial/staubli_experimental/pull/10#issuecomment-231388342 (mostly replaced jointRx with jointRs and some other minor tweaks).

After putting together a very rough support package and MoveIt configuration, things almost worked out-of-the-box, apart from the fact that Trac IK (solver I used) didn't really like the 4dof of the scara too much. Enabling approximate IK solutions or just not asking it to solve for arbitrary 6dof poses worked quite OK though.

Still have the files I changed somewhere, so I may create a branch to keep them around.

gavanderhoorn commented 5 years ago

A nicer implementation would be needed if/when we really want to add support for Scaras of course.

gavanderhoorn commented 5 years ago

Closing as this is more of a note than an actionable item.