FANUC ROS2 Drivers

Release 0.1.1

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

• ROS2 Jazzy (or Humble)
• Python 3 and pip
• catkin_pkg (required for ROS2 build system)

  sudo apt install python3-catkin-pkg python3-rosdep

• Put Fanuc TP programs on controller
  • 'ros2_eip_back.tp' needs to be running in the background
  • 'ros2_eip_mainv2.tp' runs in the foreground when you want to use ROS

Installation (Linux)

Create a ROS2 Workspace

1. Source ROS2 Environment (use jazzy or humble depending on your installation)

   source /opt/ros/jazzy/setup.bash

Optionally, you can also run the following command to add it to your .bashrc file:

echo "source /opt/ros/jazzy/setup.bash" >> ~/.bashrc

2. Create a new directory

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

3. Clone repo

   git clone https://github.com/UofI-CDACS/fanuc_ros2_drivers/ --branch v1.1

4. Initialize rosdep (first time only)

   sudo rosdep init
   rosdep update

5. Resolve Dependencies (use jazzy or humble to match your ROS2 version)

   rosdep install -i --from-path src --rosdistro jazzy -y

   Note: pycomm3 may need to be installed separately (handle this yourself via some sort of venv management):

   pip3 install pycomm3

6. Build the workspace with colcon

   colcon build

   Full guide here: ROS2 Humble Documentation

   Installation Complete

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Usage

Running Nodes (Server)

1. Open new terminal and go to workspace
2. Source overlay (after building workspace):

   source install/setup.sh

3. Run launch

   ros2 launch launch/start.launch.py robot_name:=NAME_OF_ROBOT robot_ip:=0.0.0.0 # Parameters must be formated this way or the command will give you an error

• This script only works for one robot. If you need to start more than 1 robot, this should be done in mulitple terminals. (WIP)

Using Nodes (Client)

1. Open new terminal and go to workspace
2. Source overlay

   source install/setup.sh

3. Start using!
   • run a regular python file
   • see tests/ for examples

Note: You will always need to source the overlay for each new terminal you open

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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