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ROS-Industrial driver for COMAU robots
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PDL_programs
comau
comau_driver
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comau_robots
README.md

README.md

ROS-I COMAU Driver by CNR-ITIA (www.itia.cnr.it)

The repository contains the implementation of the ROS-Industrial standard for Comau robots, developed by the Institute of Industrial Technologies and Automation, of the National Research Council of Italy (CNR-ITIA).

A short description of what each different gathers is reported. See the README.md file stored in each directory for further information.

  1. comau_driver (README): all the ROS code.
  2. comau_msgs (README): all the msgs used by the comau_driver
  3. comau_robots (README): all the stuff to move and simulate different COMAU robots
  4. PDL_programs (README): all the COMAU programs (PDL2 is the COMAU propretary programming language)

How to use the driver to move the robot

The driver needs different configuration for each robot are using. Therefore, the launch files should load different configuration files corresponding to the different COMAU robot.

Robot Side

  1. Load all the PDL programs on the robot controller
  2. Activate all of them
  3. Put the robot in "Drive On" state
  4. Press the "Start" button on the robot's TP.

PC Side

  1. Check that all the PDL programs are running,
  2. Launch the roscore (not necessary)
  3. Launch the driver of the robot you need to move, e.g.:
    roslaunch comau_ns16arc_support comau_ns16arc_driver.launch
    roslaunch comau_ns16hand_support comau_ns16hand_driver.launch
    roslaunch comau_nj220foundry_support comau_nj220foundry_driver.launch

The ROS-I Comau driver is running!
Use services and actions to move the robot!
All the information about the services, actions and topics provided by the comau_driver are here

How to use the driver to monitoring the robot

In the case the ROS nodes are used just to get the robot feedback, the procedure is slightly simpler to the previous.

Robot Side

  1. Load the PDL programs ROS_COMAU_tcp_utils and ROS_COMAU_motion_feedback on the COMAU robot controller
  2. Activate them.

PC-Side

  1. Check that all the PDL programs are running,
  2. Launch the roscore
  3. Launch the driver of the robot you need to move specifying that is used just for monitoring the hardware, e.g.:
    roslaunch comau_ns16arc_support comau_ns16arc_driver.launch only_monitoring:=true
    roslaunch comau_ns16hand_support comau_ns16hand_driver.launch only_monitoring:=true
    roslaunch comau_nj220foundry_support comau_nj220foundry_driver.launch only_monitoring:=true

Installation and ROS-Version

This package contains the implementation of the ROS-Industrial standard for Comau robots, developed using the ROS Kinetic (also tested on ROS Jade except the moveit_plugin not supported in Jade) distribution.

Clone the repository into your catkin working directory and make it with catkin build.

Note:

  • The ROS-I (industrial_core) package is needed.

Developer Contact

Authors:

Software License Agreement (BSD License)
Copyright (c) 2016, National Research Council of Italy, Institute of Industrial Technologies and Automation
All rights reserved.

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