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How to check robot state of a FANUC robot using the fanuc_driver? Same for robot state of ABB robot using abb_robot_driver

asked 2021-06-10 16:24:35 -0500

MohammadHashmi gravatar image

I have looked at the source code and documentation of the FANUC driver, and I have not come across a reference to the robot_status topic, which is of type industrial_msgs/RobotStatus. If the FANUC driver does not publish to this topic, then how can I know (using ROS) whether the robot is e-stopped, whether motion is possible, and likewise?

I have the same issue with the abb_robot_driver which also does not seem to publish to the robot_status topic.

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answered 2021-06-11 01:04:13 -0500

gvdhoorn gravatar image

fanuc_driver certainly publishes RobotStatus messages.

The thing to realise is that many of the industrial_robot_client-based drivers extend the base nodes in industrial_robot_client. The code in fanuc_driver for instance only makes the necessary changes for those generic nodes to work with the Fanuc server code in fanuc_driver.

I have the same issue with the abb_robot_driver which also does not seem to publish to the robot_status topic.

That driver indeed does not publish any RobotStatus messages. It's on the TODO list of the maintainers, but so far hasn't been implemented.

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Asked: 2021-06-10 16:24:35 -0500

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Last updated: Jun 11