Approach to write ROS Drivers for Mitsubishi robot

asked 2016-09-08 11:00:49 -0600

ghkraju gravatar image

For one of my project i wanted to communicate to RV6SD robot arm and the CR2D-700 controller. I wanted to communicate with the robot using ROS for executing trajectories. I have come across so many things writing drivers for it, Installing ROS on the Controller, etc,. What will be the proper approach if i consider writing the drivers for the Robot? and What are the things that i need to take care of before writing them like the feasibility etc,.?

edit retag flag offensive close merge delete

Comments

If that controller supports MXT, you should use the ros_control compatible hw interface in azeey/mitsubishi_arm. It would be by far the most performant kind of ROS driver, with the least amount of integration work.

gvdhoorn gravatar imagegvdhoorn ( 2016-09-08 11:38:36 -0600 )edit

That same repository contains other, non-MXT based packages btw. Although its source repository (kuri-kustar/mitsubishi_arm) might be more appropriate.

gvdhoorn gravatar imagegvdhoorn ( 2016-09-08 11:40:02 -0600 )edit

Okay Thank you @gvdhoorn.... I will have a look at them

ghkraju gravatar imageghkraju ( 2016-09-08 12:04:00 -0600 )edit

Hi. I was wondering if anyone has recently been able to use vustormlab/mitsubishi_arm successfully on Kinetic? I am not experienced using ROScpp, so I may be missing something, but I can't currently run the demo.launch file. I thought I would look for some guidance before diving all in.

KothariA gravatar imageKothariA ( 2018-05-08 21:38:10 -0600 )edit

Afaik (and I have at least one report to back me up) everything still works. There hasn't been any development on the packages for over a year though, so things may have bitrotted a bit. But they can definitely be made to work again under Kinetic.

If you don't have any ROS experience, I'd ..

gvdhoorn gravatar imagegvdhoorn ( 2018-05-09 01:34:09 -0600 )edit

.. recommend to work on that first a bit, so as to not get lost in what changes might be needed.

gvdhoorn gravatar imagegvdhoorn ( 2018-05-09 01:34:34 -0600 )edit