# Staubli TX2 with CS9 Controller

Hi,

I have a couple of Staubli TX2's, each with the CS9 Controller. Is it possible to have these working with ROS? I see that in Wiki, there is a VAL3 driver ( https://github.com/ros-industrial/sta... ).

Has anyone controlled a TX2 with ROS?

Thanks,

edit retag close merge delete

Sort by » oldest newest most voted

The staubli_val3_driver on the staubli_experimental repository is not compatible with CS9, but only due to the change from text interfaces to HTML-based that CS9 brings. Disabling the screenUpdate task brings it back into compatibility for the most part.

We are currently working on some improvements on the staubli_val3_driver, among them, CS9 compatibility, and -of course- would like to contribute it back to the repo once it's ready.

more

I've made this the accepted answer as, as of right now (2019-05-05), staubli_val3_driver is not compatible with CS9 controllers.

If/when @gonzalocasas contributs his changes this might change. I assume he'll update this answer if/when that happens.

( 2019-05-05 07:03:47 -0500 )edit

(I'll post an answer in the context of staubli_val3_driver, other readers may post different solutions)

The short answer is: we don't know. The package you found (staubli_val3_driver) has only been used with CS8 controllers. I have not received any reports from users with CS9 controllers.

It's been a while since I've worked with Staubli robots, so I don't know how bw-compatible the control software on a CS9 is. If you'd be willing to try that would be very much appreciated.

more