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Fanuc Roboguide and ROS MoveIt

asked 2020-07-02 10:07:26 -0600

zahid990170 gravatar image

updated 2020-07-12 13:12:23 -0600

Dear all,

I want to make a simulation of fanuc robot in Roboguide. This post is bit naive. I want to make sure that I do not miss any configuration steps. I ask two simple questions here.

This post has two purposes.

  • Firstly, to confirm if I follow correctly.
  • Second question, at the end of this post.

I am using Ubuntu 18.04.2 LTS bionic and ros-melodic. Basically, I have ROS/Moveit respositories for fanuc. I downloaded, installed and built these repositories from this link under my catkin_ws.

So far, I create a simple motion planning to a pose goal within rviz / MoveIt using move_group_interface. My goal is to see the same motion on the Roboguide.

I am following this link to install and configure Roboguide on a windows PC. I have already installed Roboguide. The above link lists the following prerequisites.

  • a copy of the fanuc_driver package, version 0.2 or newer [I have it on my ubuntu system under my catkin_ws]
  • an installation of Fanuc Roboguide [I have it on my windows PC]
    • a Windows PC or VM (as Roboguide does not run on Linux)

Next, On the above link, under section 4.2 Importing, it says. In the Cell Browser, import the KAREL and TPE sources into the workcell. Browse to your local fanuc_driver package. Since, Roboguide is on a windows PC, and fanuc_driver is installed under catkin_ws in ubuntu system. It cannot be local. Do, I have to copy such files manually?

thanks,

Zahid

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answered 2020-07-02 10:28:49 -0600

gvdhoorn gravatar image

updated 2020-07-02 10:29:44 -0600

Next, On the above link, under section 4.2 Importing, it says. In the Cell Browser, import the KAREL and TPE sources into the workcell. Browse to your local fanuc_driver package. Since, Roboguide is on a windows PC, and fanuc_driver is installed under catkin_ws in ubuntu system. It cannot be local.

"local" in this sentence means as compared to the remote .git repository which is hosted on Github.

Do, I have to copy such files manually?

That, or git clone the repository on your Windows PC too.

It's not too complex all actually: just make sure you have access to the files on the PC you need them. So copy the karel and tpe directories from fanuc_driver to your Windows PC. Keep the rest on your Linux machine.

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Related comment: you may want to actually use fanuc_driver_exp.

Still not perfect, but a bit better than fanuc_driver.

gvdhoorn gravatar image gvdhoorn  ( 2020-07-02 10:30:38 -0600 )edit

thanks a lot @gvdhoorn. I will post any further questions, as I make progress.

zahid990170 gravatar image zahid990170  ( 2020-07-02 11:06:24 -0600 )edit

@gvdhoorn, I have edited my original post to add some further information and ask another question? Is this the correct way, or should I put a new question. Thanks,

zahid990170 gravatar image zahid990170  ( 2020-07-06 07:57:22 -0600 )edit

Is this the correct way, or should I put a new question

You should post a new question.

Please revert your edit to remove the new question.

gvdhoorn gravatar image gvdhoorn  ( 2020-07-07 02:36:24 -0600 )edit

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Asked: 2020-07-02 10:07:26 -0600

Seen: 752 times

Last updated: Jul 12 '20