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Hi, just a follow-up question on this; where does one get the 3D models from for Fanuc robots that are not available fro

point streaming seems to be something that is gaining popularity in the community. Sorry, should have been more spe

point streaming seems to be something that is gaining popularity in the community. Sorry, should have been more spe

Hello everyone, I am working on a system consisting of a 6-axis Motoman MA2010 manipulator and a 2-axis Motopos D500 tilt-rotate positioner. The positioner is integrated with the manipulator as external axis. I have created the following two packages for integrating manipulator and positioner: motoman_ma2010_d500_waam_support and motoman_ma2010_d500_waam_moveit_config. The relevant manipulator and positioner packages can be found in PR#266.

I am able to execute trajectories to both the manipulator and positioner using PR#259 on the ros-industrial/motoman repository and using the joint_path_command topic.

However, we need to also stream trajectory points in real-time, so we would also need to use point streaming. I have so far tried the implementation provided in PR#215 in combination with PR#259 and the motoman_ma2010_d500_waam_moveit_config package but have run into issues.

A subscription to the topic joint_command, through which points should be streamed, does not seem to be created by motion_streaming_interface. I have created a simple node that publishes small joint angle increments to joint_command. On the other hand, three joint_path_command topics are subscribed to by motion_streaming_interface. Two are namespaced (arm and positioner) and one is not.

A possible cause for this might be that we are launching robot_multigroup_interface_streaming_dx200.launch, not the regular robot_interface_streaming_dx200.launch. The difference is that argument version0 is set to false. This means that the driver assumes a newer version of the "client" with multi-group support. I have tried to investigate what is meant by "client" and was trying to find out whether the version of the motoman driver code that has multi-group support is also the version that contains the point streaming implementation. So far, I was not able to distinguish the two versions of the motoman driver (multigroup and non-multigroup).

So my question would be: where can I find the two different versions of the "client"? Knowing this would help me investigate more on whether the point streaming implementation is included in both versions of the "client".

My guess above that the client version is the issue is not very informed so any input on potential other reasons for why a subscriber to the topic joint_command is not created would be very helpful.

Then more generally, I was wondering if anyone has successfully attempted this so far and if so, would you be willing to share your code?

Thank you in advance,
Thomas

Hi Gijs, thanks for the prompt answer. We will eventually need the capability to stream points to the multigroup system

Point streaming with multigroup Motoman systems Hello everyone, I am working on a system consisting of a 6-axis Motoman