fanuc CRX 10 ial links and joints are not aligned

asked 2022-03-30 18:48:24 -0500

nizar00
17 ●6 ●12 ●10

updated 2022-04-01 01:07:38 -0500

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

Working on creating a Moveit package for the CRX10ial I was able to create one using stl files for the robot provided by my company and code from ROS Fanuc experimental (this branch: https://github.com/WILDER-SYSTEMS-LLC...) when loading the files the links and joints are not aligned perfectly, I'm new to ros and would like to know where the issue exactly you can see below pictures of he output:
https://drive.google.com/file/d/1QK2V...

https://drive.google.com/file/d/1dAKV...

Edit: Thank you, and sorry for the trouble I already know about I already knew about the already existing update, since I will eventually be creating ros programs in the future I thought I could use this opportunity for training and get more familiar with the process. When i start up the simulation the links are in the correct position but when I move the joints it gets disjointed probably because they move from a different center from the rotation center of the joint.

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I don't know what happened with the meshes you've converted yourself, but we just merged ros-industrial/fanuc_experimental#67, so you should be able to use that instead.

gvdhoorn ( 2022-03-31 02:21:59 -0500 )edit

Additionally: please attach the screenshots to your post here. I've given you sufficient karma.

gvdhoorn ( 2022-03-31 02:23:19 -0500 )edit

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answered 2022-04-01 01:13:36 -0500

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

Since you mention you are trying to reuse the files made available at WILDER-SYSTEMS-LLC/fanuc_experimental/crx10ial_support, but using your own meshes: there is a good possibility you've exported the meshes with a shared origin at 0,0,0, instead of each mesh having its own origin at its own, local, 0,0,0.

With the robot in its zero-pose, that would not be a problem, but as soon as you start rotating joints, there will be differences in where meshes are rotated too between the two approaches (ie: shared origin vs each mesh a local origin).

This is especially common when trying to reuse a kinematic structure (ie: in an existing .xacro or .urdf) with meshes converted/created separately.

As the structure of the robot is already available in ros-industrial/fanuc_experimental, it would probably be easiest to fix your meshes. Use a mesh editing program (like Blender, Meshlab or Meshmixer) to correct the origins of all the meshes. In most cases, the origin should coincide with the origin of the joint (ie: the point of rotation for revolute joints).

You could open one of the meshes in ros-industrial/fanuc_experimental/fanuc_crx10ia_support and compare its origin with one of your own meshes.

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thank you for your answer I will try as soon as possible, another question for the CRX 10 ial robot are the binaries in this link compatible with it http://wiki.ros.org/fanuc_driver/hydr... id there a step by step guide to install the ros driver in the pendant/controller as the current one is not very clear, I'm using Ros Melodic

nizar00 ( 2022-04-01 05:55:01 -0500 )edit

No, the binaries you link to are not compatible with R-30iB+ controllers. You'd have to compile the Karel sources yourself.

re: step by step guide not very clear: are you referring to Installation of the ROS-Industrial driver on Fanuc controllers?

gvdhoorn ( 2022-04-02 09:12:18 -0500 )edit

yes, how do I acquire those binaries for the R-30iB+ exactly? i hope it doesn't involve roboguide ?

nizar00 ( 2022-04-03 18:45:34 -0500 )edit

would the most recent ones in this link https://github.com/gavanderhoorn/fanu... work ?

nizar00 ( 2022-04-04 04:08:02 -0500 )edit

how do I acquire those binaries for the R-30iB+ exactly?

you'd have to compile them using ktrans.exe.

i hope it doesn't involve roboguide ?

well, RG does come with ktrans.exe, so that would be one way to do it. If you have a Fanuc robot, I would assume you have access to the crc (customer resource centre, or your national equivalent). You should be able to download a trial version of RG from that.

would the most recent ones in this link https://github.com/gavanderhoorn/fanu... work ?

that is a different package. It's not fanuc_driver.

Afaik, V8.30 binaries cannot directly be used on V9.40 systems.

gvdhoorn ( 2022-04-04 04:20:23 -0500 )edit

it's a little bit confusing how do I use ktrans.exe to compile the binaries, I m new to this sort of thing, usually, with most robots I used it's just set ethernet cable and install the driver and it works. messing around with files from the pendant or controller is a first .

nizar00 ( 2022-04-04 18:45:50 -0500 )edit

While I really want to help people (that's why I have an account here), your question is no longer a ROS question. It's more about how to use the software provided by your OEM.

You don't need to use ktrans.exe. You can just use RG if you have it (and not having RG while having ktrans.exe would be uncommon). Compiling Karel source code is something the manual of RG should be able to help you with.

As a summary: C:\path\to\ktrans.exe /ver V9.40-1 C:\path\to\your\source.kl.

But that will only work with fanuc_driver, and only if fanuc_driver\karel is the current working directory.

with most robots I used it's just set ethernet cable and install the driver and it works

actually, that's a fairly recent development. It probably depends on how long you've been working ...(more)

gvdhoorn ( 2022-04-05 02:20:22 -0500 )edit

And btw: your questions about how to compile Karel source code are technically off-topic here (in your own question). You started this question asking what could be the cause of misaligned meshes when you reuse the .xacro from somewhere/someone else.

We've discussed that.

Your subsequent questions should be asked in new posts.

gvdhoorn ( 2022-04-05 02:22:11 -0500 )edit

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