asked 2016-04-19 14:23:40 -0500

Chickenman gravatar image

Hi guys

I have team of me and two friends working with ROS for about 8 months on our university. We created hardware configuration and driver for mobile manipulator with 6 dof-arm. We also created models and all basic packages included mapping moveit control and everything needed. Now after our results we have opportunity and we want to create ros-industrial package for schunk lwa4p arm with gripper and force torque sensor maybe for real industrial usage. For begining we are just using basic packages for controlling wsg_50 and schunk_lwa4p but we already created our own model simulations and started programming driver for force_torque sensor.

I am interested in your opinion if it is real to start working on project like this. If it will be enough informations to use already created industrial packages as examples and industrial tutorials to created usefull industrial packages with all controllers /drivers/ simulations/ moveit_setup/descartes/object recognition and so on. I would like to know if it is possible to create package like this with only information given on internet. I am asking because I am doing schedule for this project and I need some profesional opinions, because when we were working on our first project with mobile_manipulator we found lot of problems with documentations of some packages and misunderstandings. I am also asking for opinion if it is ok to start project like this with our experience. I also have to say that we dont have a lot of experience with ros-industrial packages.

Also if you can help me and give more informations or hints how to manage project like this or if I can contact somebody who could help I would be really grateful .

Thank you for your opinions and I am sorry for my English

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I'm afraid I can't really follow what you really want to do. Are you asking for the procedure how to contribute to ROS-Industrial, do you want to use existing ROS-I pkgs, or do you want to provide / create documentation for a particular application you developed (using ROS-I pkgs)?

gvdhoorn gravatar image gvdhoorn  ( 2016-04-20 02:54:10 -0500 )edit

We want to provide/create new industrial package with all documentation and setup for lwa4p manipulator. So it can be use for industrial aplication with all documentation and use as examples packages from fanuc or motoman.

Chickenman gravatar image Chickenman  ( 2016-04-20 04:03:04 -0500 )edit

Ok, that's clearer. Two questions:

new industrial package [..] for lwa4p manipulator

how do your pkgs relate to wiki/schunk_description?

[..] use as examples packages from fanuc or motoman.

So you'd like to see schunk supported like fanuc & motoman?

gvdhoorn gravatar image gvdhoorn  ( 2016-04-20 04:21:59 -0500 )edit

And it might be a good idea to send a message to the ROS-Industrial mailing list.

gvdhoorn gravatar image gvdhoorn  ( 2016-04-20 04:24:03 -0500 )edit

Thank you I will write mail and try to find more answers. Yeah I tried that packages and also setup moveit and I am already controlling real manipulator, I downloaded new stl models and created new urdf. I want to make more complex package using descarters, pick and place action and so on.

Chickenman gravatar image Chickenman  ( 2016-04-20 15:40:37 -0500 )edit

And in my opinion for beginner it is really hard to make real manipulator work with these packages or use these packages for real application and I think that their purpose is mainly for presentation and basic moves but for real industrial application it should be created something more complex.

Chickenman gravatar image Chickenman  ( 2016-04-20 15:46:53 -0500 )edit

Which packages are you now referring to in your last comment?

gvdhoorn gravatar image gvdhoorn  ( 2016-04-20 16:04:03 -0500 )edit and but it is only my opinion and I probably dont have enough experience to judge but that is why I created this topic to discuss with more experienced people

Chickenman gravatar image Chickenman  ( 2016-04-20 16:26:25 -0500 )edit