[Documentation] [TitleIndex] [WordIndex

Overview

This package enables specific ROS nodes to communicate with Fanuc industrial robot controllers, using the protocol defined in the simple_message package.

Experimental driver

The fanuc_driver_exp repository contains an experimental replacement for fanuc_driver that is currently being beta-tested.

It is backwards compatible and can be used as a drop-in replacement for the controller side of fanuc_driver (ie: the Karel and TP code).

See the fanuc_driver_exp repository readme for information on how to install it.

Kinetic compatibility

Binary packages are available for ROS Kinetic, but not all packages have been released.

The following binary packages are available (as of 2019-10-09):

They can be installed using apt (on Ubuntu and Debian). The other packages (MoveIt configurations and plugins) have to be built from sources (see below).

Installation using apt

To install the driver using apt:

   1 sudo apt update
   2 sudo apt install ros-kinetic-fanuc-driver

Building from source

In a Catkin workspace:

   1 cd /path/to/catkin_ws/src
   2 
   3 # retrieve the latest development version of fanuc. If you'd rather
   4 # use the latest released version, replace 'indigo-devel' with 'kinetic'
   5 git clone -b indigo-devel https://github.com/ros-industrial/fanuc.git
   6 
   7 cd /path/to/catkin_ws
   8 
   9 # checking dependencies: this may install additional packages
  10 rosdep update
  11 rosdep install --from-paths src --ignore-src --rosdistro kinetic
  12 
  13 # building
  14 catkin_make
  15 
  16 # source this workspace (only if you don't have any others)
  17 source /path/to/catkin_ws/devel/setup.bash

Refer to the catkin tutorials for more information on building catkin workspaces.

Further information

See the Indigo specific page of fanuc_driver for information on requirements, access to the tutorials, the Troubleshooting page and other information.


2022-05-28 12:35