![]() ![]() These programs should work on most Fanuc controller cabinets, provided they support a relatively recent version of Karel (system V7.20 and up). On the robot controller side, two KAREL programs implement the joint state proxy and the trajectory relay, transmitting joint states and receiving joint position set points respectively. See the relevant sections of the Industrial Robot Driver Specification and the HardwareCompatibility page for more information. Trajectory downloading, velocity or force control are not yet supported. Only joint position streaming is supported (packet type: JOINT_TRAJ_PT), with the controller currently overriding commanded velocity with a constant one (see fanuc/issues/1). This package enables specific ROS nodes to communicate with Fanuc industrial robot controllers, using the protocol defined in the simple_message package.
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