# Revision history [back]

Is there a possibility to communicate ROS without karel R632?

The fanuc_driver package has parts written in Karel. As far as I know, you need R632 in order to run Karel programs. Without that, communication with the ROS side of fanuc_driver is impossible (again, as far as I know). At least using socket communication.

Having said that, an alternative might be to use a fieldbus - such as EthernetIP or Profinet - between your R-30iA and the ROS PC, and to write robot_state and motion_streaming_interface alternatives that use that fieldbus to communicate. This would remove the need for Karel, as a TP program could be used to then read and write registers and perform moves. This would all need to be developed though.

In any case try to see whether you can run Karel programs. If you can, then it might well be that R632 is not required after all.

Is there a possibility to communicate ROS without karel R632?

The fanuc_driver package has parts written in Karel. As far as I know, you need R632 in order to run Karel programs. Without that, communication with the ROS side of fanuc_driver is impossible (again, as far as I know). At least using socket communication.

Having said that, an alternative might be to use a fieldbus - such as EthernetIP or Profinet - between your R-30iA and the ROS PC, and to write robot_state and motion_streaming_interface alternatives that use that fieldbus to communicate. This would remove the need for Karel, as a TP program could be used to then read and write registers and perform moves. This would all need to be developed though.

In any case try to see whether you can run Karel programs. If you can, then it might well be that R632 is not required after all.

Edit:

R636 socket messaging is installed.

Note that the Requirements section on the fanuc_driver wiki page states that R648 (User Socket Messaging) is required. R636 is a different (but related) option.

Is there a possibility to communicate ROS without karel R632?

The fanuc_driver package has parts written in Karel. As far as I know, you need R632 in order to run Karel programs. Without that, communication with the ROS side of fanuc_driver is impossible (again, as far as I know). At least using socket communication.

Having said that, an alternative might be to use a fieldbus - such as EthernetIP or Profinet - between your R-30iA and the ROS PC, and to write robot_state and motion_streaming_interface alternatives that use that fieldbus to communicate. This would remove the need for Karel, as a TP program could be used to then read and write registers and perform moves. This would all need to be developed though.

If you would be interested in that, I'm more than happy to assist you.

In any case try to see whether you can run Karel programs. If you can, then it might well be that R632 is not required after all.

Edit:

R636 socket messaging is installed.

Note that the Requirements section on the fanuc_driver wiki page states that R648 (User Socket Messaging) is required. R636 is a different (but related) option.

Edit (2021-04-13): it's most likely possible to run Karel binaries without R632.

Is there a possibility to communicate ROS without karel R632?

The fanuc_driver package has parts written in Karel. As far as I know, you need R632 in order to run Karel programs. Without that, communication with the ROS side of fanuc_driver is impossible (again, as far as I know). At least using socket communication.

Having said that, an alternative might be to use a fieldbus - such as EthernetIP or Profinet - between your R-30iA and the ROS PC, and to write robot_state and motion_streaming_interface alternatives that use that fieldbus to communicate. This would remove the need for Karel, as a TP program could be used to then read and write registers and perform moves. This would all need to be developed though.

If you would be interested in that, I'm more than happy to assist you.

In any case try to see whether you can run Karel programs. If you can, then it might well be that R632 is not required after all.

Edit:

R636 socket messaging is installed.

Note that the Requirements section on the fanuc_driver wiki page states that R648 (User Socket Messaging) is required. R636 is a different (but related) option.