FANUC ROS2 Drivers

Release 0.1.0

Table of Contents

1. About The Project
   • Built With
2. Getting Started
   • Prerequisites
   • Installation
3. Usage
4. Roadmap
5. License
6. Contact

About The Project

ROS2 Solution for FANUC robots

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Built With

• 

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Getting Started

Prerequisites

• pycomm

  pip3 install pycomm

Installation (Linux)

Create a ROS2 Workspace

1. Source ROS2 Environment

   source /opt/ros/humble/setup.bash

2. Create a new directory

   mkdir -p ~/ros2_ws/src
   cd ~/ros2_ws/src

3. Clone repo

   https://github.com/UofI-CDACS/fanuc_ros2_drivers.git

4. Resolve Dependencies

   # cd if you're still in the ``src`` directory
   cd ..
   rosdep install -i --from-path src --rosdistro humble -y

5. Build the workspace with colcon

   colcon build

6. Source the overlay

   source /opt/ros/humble/setup.bash

   Go into the root of your workspace

   cd ~/ros2_ws

   In the root, source the overlay

   source install/local_setup.bash

   Full guide here: ROS2 Humble Documentation

   Installation Complete

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Usage

Running Action Server/s

!Note: Always source when opening new terminal

1. Open new terminal
2. Source the overlay

   source /opt/ros/humble/setup.bash

   Go into the root of your workspace

   cd ~/ros2_ws

   In the root, source the overlay

   source install/local_setup.bash

3. Navigate to desired package

   #example:
   cd ~/ros2_ws/src/fanuc_ros2_driver/fanuc_ros2_driver/fanuc_ros2_driver/

4. Spin up action servers

   #example: pass robot IP
   python3 write_joint_pose_server.py 129.1.1.1

   Action server is now waiting to receive goals

For more examples, please refer to the Documentation

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Roadmap

• More ROS2 Packages

See the open issues for a full list of proposed features (and known issues).

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License

Distributed under the GNU General Public License v3. See LICENSE.txt for more information.

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Contact

Project Link: https://github.com/UniversityOfIdahoCDACS/FANUC-ROS2_Drivers

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