Universal_Robots_ROS2_Driver
fanuc
| Universal_Robots_ROS2_Driver | fanuc | |
|---|---|---|
| 4 | 1 | |
| 358 | 149 | |
| 2.5% | 1.3% | |
| 8.3 | 3.5 | |
| 6 days ago | 2 months ago | |
| C++ | C++ | |
| BSD 3-clause "New" or "Revised" License | GNU General Public License v3.0 or later |
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Universal_Robots_ROS2_Driver
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Create VR-Controlled Roboter in Unity
I was considering to use the Universal_Robots_ROS2_Driver but I got overwhelmed by all the packages and thought it would be better to do things like I mentioned above.
- ROS2 workflow and project structure
- Calibration file of DH Parameters Universal Robot
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Limited resources on non-simulated ros2_control integration, looking for some.
For more examples also check: https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver
fanuc
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Fanuc socket messaging
You can have a look at ROS' code, but it may be convoluted to follow. The karel manual has an example in it of how to set up a client connection, it's best to start with that. You need to setup the connection parameters from the TP (Menu>Setup>Host comm.) and then the port in $HOSTC_CFG.$SERVER_PORT. You have to follow the setup procedure from the karel manual to the letter or it will not work, I really mean it, follow every step, initialize when you're told, set the variables after the initialization, and so on. Then it's pretty straightforward, from karel you'll open the configured client (C1:) and start sending and receving data. You'll have to implement some basic string functions, but there're arent many caveats.
What are some alternatives?
abb_librws - A C++ library for interfacing with ABB robot controllers supporting Robot Web Services
abb_robot_driver - The new ROS driver for ABB robots
odrive_ros2_control - ODrive driver for ros2_control
Universal_Robots_ROS_Driver - Universal Robots ROS driver supporting CB3 and e-Series
abb_egm_rws_managers - A C++ library for encapsulating ROS agnostic components for a ROS driver for ABB robots
deep_grasp_demo - Deep learning for grasp detection within MoveIt.
Balltze - ROS2 packages for quadrupped robot Balltze
universal_robot - ROS-Industrial Universal Robots support (https://wiki.ros.org/universal_robot)
vscode_ros2_workspace - A template for using VSCode as an IDE for ROS2 development.
abb_libegm - A C++ library for interfacing with ABB robot controllers supporting Externally Guided Motion (689-1)
Universal_Robots_ROS2_Description - ROS2 URDF description for Universal Robots