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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
ros-industrial staubli staubli-robotics val3

readme

Staubli VAL3 driver

Build Status: Ubuntu Bionic (Actions) Build Status: Ubuntu Focal (Actions)

license - apache 2.0 Github Issues

support level: community

Overview

This repository contains the staubli_val3_driver package which provides a set of VAL3 libraries and an application which together implement a simple_message compatible server implementation. Together with the nodes in industrial_robot_client, this server can be used as a ROS 1 driver that allows motion control of Staubli CS8/CS9 controlled robots, by exposing a FollowJointTrajectory action server, which is compatible with MoveIt and other nodes that implement an action client.

Documentation

Refer to the staubli_val3_driver readme for more information on requirements, setup and use.

Compatibility

The current version of the driver is compatible with Staubli CS8 and CS9 controllers.