Fanuc Roboguide and ROS MoveIt (follow up)

asked 2020-07-12 13:09:21 -0500

zahid990170
135 ●30 ●43 ●48

updated 2022-01-22 16:10:39 -0500

Evgeny
26 ●6

Dear all,

I want to make a simulation of fanuc robot in Roboguide. My question concerns about specific configurations needed to send movements from within ROS/MoveIt/Rviz to the simulated robot inside Roboguide.

This post is a follow up from another question.

Briefly, I use 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.

I am following this link to install and configure Roboguide on a windows PC. I have already installed Roboguide. Thanks to input from @gvdhoorn, I manually copied the folders karel and tpe on my windows PC, and within the Cell Browser, I have imported the KAREL and TPE sources into the workcell. A little confusion here; for fanuc_driver version 0.3.0 and up, just select all .kl files in the karel sub-directory. It means, that from KAREL/include sub-directory, we do not need to import any files which are in fact ending in _h.kl or _t.kl. I did not copy these _h.kl or _t.kl files, and all the files have been built successfully.

Next, on the same tutorial, in section 6 Copying the Binaries, it says, Finally, the binaries need to be transferred to the controller. Since, we are on windows PC, and working inside Roboguide. We have necessary programs (compiled binaries) already available inside Roboguide, and we are using the simulated controller. Where do we have to copy the files? Or is it referring in case if we had a real-robot? So, for our case, with the simulation, we can just proceed with the next steps.

Next, I move on the next tutorial, which are in fact further configurations. I have this question, section 2 Server Tags check Tag availability and status, open the Host Comm setup screen, which I cannot locate. Please, if you can help me clarify these steps, and give suggestions on next steps.

thanks,

Zahid

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answered 2020-07-14 06:10:21 -0500

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

A little confusion here; for fanuc_driver version 0.3.0 and up, just select all .kl files in the karel sub-directory. It means, that from KAREL/include sub-directory, we do not need to import any files which are in fact ending in _h.kl or _t.kl.

Correct.

Those files are only include files, similar to C/C++ .h or .hpp files.

These do not get built as stand-alone programs, only as part of other programs (ie: the files with the .kl extension).

I did not copy these _h.kl or _t.kl files, and all the files have been built successfully.

If with "copy" you mean "I did not import those into my Roboguide cell", then that would be OK.

Roboguide (ktrans really) will be able to find them. If it couldn't, you would get many errors.

Next, on the same tutorial, in section 6 Copying the Binaries, it says, Finally, the binaries need to be transferred to the controller. Since, we are on windows PC, and working inside Roboguide. We have necessary programs (compiled binaries) already available inside Roboguide, and we are using the simulated controller. Where do we have to copy the files? Or is it referring in case if we had a real-robot?

Yes, copying is only needed for a real controller, as Roboguide already copies the binaries to the virtual controller for you.

Next, I move on the next tutorial, which are in fact further configurations. I have this question, section 2 Server Tags check Tag availability and status, open the Host Comm setup screen, which I cannot locate. Please, if you can help me clarify these steps, and give suggestions on next steps.

If you go to Menu→SETUP→Host Comm you cannot find that screen?

If you can't, I'm not sure whether you are missing a particular software option on your virtual controller. I would expect all FRVC to have that screen, so I'm not sure why you cannot find it.

Please make sure your virtual controller has both option R648 (User Socket Messaging) and R636 (Socket Messaging).

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thanks @gvdhoorn, please see attached file.

$C:\fakepath\2020-07-14 (1).png$

this is the screen-shot from Roboguide with controller shown. In the properties window, we can see that virtual controller has both option R648 (User Socket Messaging) and R636 (Socket Messaging). Although, in the menu, I do not see SETUP→Host Comm.

thanks, Zahid

zahid990170 ( 2020-07-14 06:43:41 -0500 )edit

The menu mentioned is found on the Teach Pendant. Not in Roboguide.

This is meant in the most positive way: try to get some more familiarity with the way Fanuc robots and controllers work, how the teach pendant works and is used and the terminology.

The tutorials you reference are not meant as an introduction to using Fanuc robots, but to guide you to setup the ROS driver for use with such robots. Note also the statement at the top of the tutorials:

Note: This tutorial assumes familiarity with Fanuc controller cabinets, the Teach Pendant (iPendant) and the Roboguide environment. For more information on any of the steps in this tutorial, consult the documentation on these subjects provided by Fanuc Robotics.

gvdhoorn ( 2020-07-14 09:50:47 -0500 )edit

thanks @gvdhoorn, I should've studied it bit more, I opened the Teach Pendant, in default configuration, the relevant keyboard was not visible. I thought, perhaps, I missed some settings. After playing around on the keyboard, and reading this tutorial, I managed to complete most configurations indicated. Later on, before running, it says, On the TP, start the rosstate TPE program. Please excuse my ignorance, I can see the program listing ROSRELAY, ROSSTATE, ROS_MOVESM, but, not sure, from where to "start" it. If I Enter, it takes me to the code listing of the program. There are some keys/buttons on the top left of TP that read Busy, Step, Hold, Fault, Run, I/O, Prod and TCyc. But, they are probably only status indicators. Thanks,

zahid990170 ( 2020-07-21 07:28:00 -0500 )edit

Could you give a brief description of your level of familiarity with Fanuc robots? Starting a program comes down to (in Roboguide):

In MANUAL mode:

SELECTing it
pressing SHIFT (and keeping it pressed)
pressing FWD (once)

In AUTO mode:

SELECTing it
pressing the Play button on the toolbar at the top of the Roboguide screen

I would suggest you try looking up the relevant manuals from Fanuc, as becoming more familiar with this will help you working your way through these tutorials, and will make working with Fanuc robots much more efficient.

gvdhoorn ( 2020-07-22 02:37:56 -0500 )edit

Hi @gvdhoorn, thanks for your input. I agree; the software Roboguide, its terminology and concepts needs to be studied for easy understanding of the configurations. The lack of understanding is due to the way in which the task was assigned to me ( about a month ago), with a little time on the trial version left, the idea was to run and test a simple motion goal from ROS/MoveIt to fanuc Roboguide. Though, it needs dedicating some time to follow the fanuc controllers first, the tutorials of the Roboguide and then testing the connection with the ROS/MoveIt. The tutorials are probably more for the people who are working with fanuc controllers, and they now want to see how does ROS connect with it. For me, it was the opposite, I have been learning ROS/MoveIt. I tested simple motions, on rviz and real robotic arm (UR5), making use of ...(more)

zahid990170 ( 2020-07-24 12:53:23 -0500 )edit

Could you please mark the question as answered by ticking the checkmark (✓) to the left of the answer if you feel it has been answered? Thanks.

gvdhoorn ( 2020-08-17 10:13:39 -0500 )edit

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