fanuc-web2ros

A gateway between fanuc-webcontrol and ROS implemented as node.js module

Fanuc-webcontrol: https://github.com/ABC-iRobotics/fanuc-webcontrol/blob/master/API.md

There must be a running rosbridge server on ROS in orther to communicate http://wiki.ros.org/rosbridge_suite

Usage

The module require 2 parameters:

-The IP and PORT of the rosbridge server(default: [localhost:9090])

-The IP of the karel server (default: [192.168.1.100])

node fanuc-web2ros.js -rosbridge [ip+port] -karel [192.168.1.100]

What does it do?

The program checks the '.../karel/webmonitor.htm' url in every 100 milliseconds and reads the joint values from it.

If they change it publish them to the '/joint_states' topic of ROS.

fanuc-ros2web

A gateway between ROS and fanuc-webcontrol implemented as node.js module

Fanuc-webcontrol: https://github.com/ABC-iRobotics/fanuc-webcontrol/blob/master/API.md

Acknowledgement

We acknowledge the financial support of this work by the Hungarian State and the European Union under the EFOP-3.6.1-16-2016-00010 project.

There must be a running rosbridge server on ROS in orther to communicate http://wiki.ros.org/rosbridge_suite

Usage

The module require 2 parameters:

-The IP and PORT of the rosbridge server(default: [localhost:9090])

-The IP of the karel server (default: [192.168.1.100])

node fanuc-ros2web.js -rosbridge [ip+port] -karel [192.168.1.100]

What does it do?

The program subscribe to the '/joint_states' topic of ROS, and when it changes it sends the states to the fanuc-webcontrol using a GET method.

Script file

node ./fanuc-web2ros.sh Launch both fanuc-web2ros and fanuc-ros2web on ip 192.168.1.101