fanuc_ros_cgio_py

Deprecated

This library and the Karel programs are deprecated.

Please see gavanderhoorn/dominh for a replacement.

This readme and all files in this repository are kept for archival purposes only.

Overview

This is a small Python library usable with the fanuc_ros_cgio Fanuc Karel program.

NOTE: this is only meant as a convenience tool for quick and incidental external access to a controller's IO without needing to use any additional hardware. Do not use this on production systems or in contexts where any kind of determinism is required. The author recommends using any of the supported fieldbuses in those cases.

Requirements

Python 2 (this has not been written with Python 3 compatibility in mind) and the requests library. If using pip to install, this will automatically be resolved and taken care of.

The fanuc_ros_cgio Karel program installed on the controller.

See fanuc_ros_cgio for information on how to configure the controller to allow external access to Karel programs via the web server.

Installation

Installation is easiest with pip (make sure pip can find git):

$ (sudo) pip install git+https://github.com/gavanderhoorn/fanuc_ros_cgio_py.git

or, if cloned locally first:

$ (sudo) pip install /path/to/your/checkout

This should install the package in the right location.

Example usage

In this example the robot is reachable under the my_robot hostname:

import ros_cgio_py

my_m10ia = ros_cgio_py.FanucCGIO('my_robot')
...
dout1 = my_m10ia.read_dout(1)
...
my_m10ia.write_aout(1, 200)
...

See also the examples directory.

Bugs, feature requests, etc

Please use the GitHub issue tracker.