fanuc m710 ic

edit

I have found some fanuc files for ros, however not for m710.

Basic support for M-710iC manipulators may be found at fanuc_m710ic_support. Xacros are only provided for the M-710iC/50 at the moment. You don't tell us which specific variant of the M-710 you have, so I cannot say whether we have xacros for it.

Note that the available drivers are manipulator agnostic, so they do not need to support any particular series or variant specifically to work.

I also understood in lunar release , we should not use urdf files, but collada files ?

I'm not aware of this, so I cannot comment. If you can clarify where you have read this or who told you this I would be interested.

I discovered ros industrial, regarding fanuc dialog, fanuc_driver found (experimental release found) , not enough clear to novice like me what are karel tp

This is a suggestion, but: if you haven't yet, please follow some basic Fanuc training before trying to use fanuc_driver, fanuc_driver_exp or any of the ROS-Industrial Fanuc packages with your robot. Karel and TP should be part of your basic knowledge when it comes to Fanuc robots, and both are needed.

These robots are dangerous and can be deadly, especially larger ones like the M-710.

We're here to help, but if ROS-Industrial is your first experience with Fanucs, then that may not be the best way to start.

Edit:

Ok, I have 3D models issued from fanuc. step or iges cad file. however I think that is not enough, this will not describe the robot kinematic .so urdf will come in action ? And I have to make it on my own ?

please first take a look at fanuc_m710ic_support and see whether that contains files for your robot already. If not, creating a urdf/xacro is not that difficult.

Edit2:

rosrun xacro xacro --inorder  fanuc_m710ic_support/urdf/m710ic50.xacro

resource not found: fanuc_m710ic_support

Did you install the Fanuc packages before trying to run this command? If you did install them, how did you do that?

Note also: in order to test the xacro, just run (after installation):

roslaunch fanuc_m710ic_support test_m710ic50.launch

Refer to Working with ROS-Industrial Robot Support Packages (also linked from the fanuc_m710ic_support wiki page) for information on how to work with these packages.