How can I control my robot fanuc m10 step by step in real time?
I can't get the robot to move, only to watch his present position using rviz. Is it possible to do without moveit ? Or if not real-time, step by step with the minimum of delay? Installed Ros on Ubuntu 16.04. As an alternative to the real robot (waiting for delivery is an option from Fanuc) use Roboguide. Karell compiled according to the instructions from the wiki and downloaded all .pc and .tp files to the controller. Launch ros.tp. On the computer run
roslaunch fanuc_m10ia_support robot_state_vizualize_m10ia.launch robot_ip:=127.0.0.1 use_bswap:=false
Everything appears correctly! Next run
roslaunch fanuc_m10ia_support robot_interface_streaming_m10ia.launch robot_ip:=127.0.0.1 use_bswap:=false
The controller appears RSTA connected and RREL connected. I tried to write in various topics, but nothing happens
Can you explain what you've already done? How did you install things, which software are you using, etc? Please edit your original question for that.
If you can't get the robot to move at all, then something is wrong, because
fanuc_drivershould be able to do that.As to real-time / minimum delay: that is possible, but you will probably not like the performance very much. Fanuc robots don't have any external motion interface, and are not really well suited for this kind of thing.
If you need actual real-time, custom development with something like ..
.. DPM might be more suited.
I would also recommend you install fanuc_driver_exp instead of
fanuc_driver.Thanks for the update. Can you explain how you can run RoboGuide on Ubuntu? Or is
127.0.0.1an example IP?127.0.0.1 it's example IP
@gvdhoorn is DPM Fanuc's analog to Kuka's RSI? Performance-wise are there any major differences?
@BrettHemes: I wish it was. It's a real-time interface, but only for Cartesian corrections in a very limited volume around a fixed point (or at least, that's one of the methods of operation). There are a few other modes, but nothing that truely solves the Fanuc-is-missing-a-proper-external-..
..-motion-interface.
I was sort-of hopeful that J802 would finally solve all our problems (it's even called "Remote Sensor Interface", ie: RSI), but so far it only seems to be a state reporting solution (ie: RSI with
sendonly==true). No motion commanding there.