Experimental ros2_control integration for Yaskawa Controller focused on low latency direct input. Also works with moveit2. Tested on YRC1000 and YRC1000u.
Based on https://github.com/tingelst/motoman .
Use MotoPlus for Visual Studio or MotoPlusIDE to compile the controller code.
Robot controller- the hardware robot controller (e.g. YRC1000)
<state_interface name="position">- joint position sent to the robot controller. Since the robot is a commanded system (as opposed to a controlled system), the last command sent is used as the position state. This works well in practice with the disadvantage that the inherent dead time of >= 40 ms is not reflected in the state. Use thefdbinterface for this.<state_interface name="pos_set">- joint position set on the robot controller<state_interface name="pos_cmd">- joint position commanded to the robot controller (same as the "position" interface, just reflected from the robot controller)<state_interface name="pos_fdb">- real joint position measured by the robot controller<state_interface name="vel_cmd">- joint velocity commanded to the robot controller<state_interface name="velocity">- joint velocity set on the robot controller<state_interface name="vel_fdb">- real joint velocity measured by the robot controller<state_interface name="acc_cmd">- joint acceleration commanded to the robot controller<state_interface name="acc_set">- joint acceleration set on the robot controller
The individual joint positions are sent (snd) to the robot controller.
A dedicated algorithm running on the robot controller checks the commanded (cmd) position against the configured maximum values (see robot URDF).
The algorithm sets (set) the resulting increments to the robot hardware.
The robot controller measures the actual position and velocity using its feedback API (fdb).