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ros-industrial / staubli_val3_driver

ROS-Industrial (simple message) driver for Stäubli CS8 and CS9 robot controllers (VAL 3 application)
Apache License 2.0
26 stars 21 forks source link

Scara support #48

Closed simonschmeisser closed 2 years ago

simonschmeisser commented 2 years ago

Has anyone experimented with using/extending this driver for 4-axis scara robots? We're looking at the TS2-100 to be specific but that shouldn't matter in general

gavanderhoorn commented 2 years ago

See https://github.com/ros-industrial/staubli_experimental/issues/36.

simonschmeisser commented 2 years ago

Thanks for the link! Good to know that my optimistic guess of this being achievable was not too optimistic. If you still have the code around somewhere that would be great but the overview in that comment is also already a good start. Let's see if the project materializes first.

gavanderhoorn commented 2 years ago

I'll see if I can find it.

It should be somewhere on a laptop I used, but where ..

gavanderhoorn commented 2 years ago

I do remember the scara having more trouble with the acceleration issues we still have with staubli_val3_driver though.

gavanderhoorn commented 2 years ago

I believe https://github.com/ros-industrial/staubli_val3_driver/compare/master...gavanderhoorn:wip_scara_support should do it. There were more changes, but I don't believe they were necessary to get things to work motion-wise.

No guarantees of course.

And heed the 'warning':

ugly, hacky ..

simonschmeisser commented 2 years ago

Thanks!

gavanderhoorn commented 2 years ago

Have you been able to verify this works @simonschmeisser ?

simonschmeisser commented 2 years ago

No, not yet unfortunately. The project is still in the planning phase currently and I have not yet seen any hardware unfortunately.

gavanderhoorn commented 2 years ago

Friendly ping