Add a ROS package for an unsupported Fanuc robot model
Hi I would like to make a new ROS driver for a Fanuc that I couldn't find in https://github.com/ros-industrial/fanuc.
I would like to know what are the steps I need to take in order to do so.
The model in particular is the CRX10IA.
Would I be able to
- start from CR7IA _support and _moveit_config directories
- do some renaming
- modify the joint limits for this specific robot
- modify the URDF
- change the meshes
Are there any details I'm forgetting here?
Thanks!
The main repository is actually ros-industrial/fanuc. The one you link to is my personal fork.
Not that it matters, as there is no support package for the CRX-10iA available there either, but it's important we don't direct future readers to forks.
I would suggest to create a new MoveIt configuration pkg after you've created the robot support package.
Following the MSA should not be too difficult (it's a wizard after all), and renaming files and folders in MoveIt cfg pkgs and updating references in files is error prone and not very efficient.
I just noticed the title of your question is "making a ROS driver for ..".
It could be you want to create an actual driver, but from the text in your question, it appears you want to create a robot support package. That would be something else, and much less involved.
right, actually I probably only need the
supportandmoveit_configpackages since the fanuc driver is already in ros-industrial/fanuc. I wasn't sure of the distinction between them.Hi, just a follow-up question on this; where does one get the 3D models from for Fanuc robots that are not available from the repos mentioned above? Are these 3D models available via the Fanuc support?
You can either download them from the crc (in the US) or whatever your local equivalent site is.
Additionally, you can try asking Fanuc support for them. If possible, ask for a SolidWorks model, as they're quite easy to process.
It's likely though you'll get a Parasolid, which will need some (more) conversion.
@macster: did you end up creating the support package?
@gvdhoorn, we created a support package this week using sw_urdf_exporter and then the MoveIt Setup Assistant to create the MoveIt configuration package. Rotating the joints seems ok, however we had some issues when moving the interactive marker at the end effector: the segments detach from each other in RViz. We had some luck by re-constraining the joints in Solidworks and tweaking the values in the URDF.