diff --git a/fanuc_crx10ia_support/CMakeLists.txt b/fanuc_crx10ia_support/CMakeLists.txt new file mode 100644 index 00000000..ed1548d3 --- /dev/null +++ b/fanuc_crx10ia_support/CMakeLists.txt @@ -0,0 +1,17 @@ +cmake_minimum_required(VERSION 2.8.3) + +project(fanuc_crx10ia_support) + +find_package(catkin REQUIRED) + +catkin_package() + +if (CATKIN_ENABLE_TESTING) + find_package(roslaunch REQUIRED) + roslaunch_add_file_check(tests/roslaunch_test_crx10ial.xml) +endif() + +install(DIRECTORY config launch meshes urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +install(FILES readme.md DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/fanuc_crx10ia_support/config/joint_names_crx10ial.yaml b/fanuc_crx10ia_support/config/joint_names_crx10ial.yaml new file mode 100644 index 00000000..b02f7ba3 --- /dev/null +++ b/fanuc_crx10ia_support/config/joint_names_crx10ial.yaml @@ -0,0 +1 @@ +controller_joint_names: ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6'] diff --git a/fanuc_crx10ia_support/launch/load_crx10ial.launch b/fanuc_crx10ia_support/launch/load_crx10ial.launch new file mode 100644 index 00000000..0385844f --- /dev/null +++ b/fanuc_crx10ia_support/launch/load_crx10ial.launch @@ -0,0 +1,4 @@ + + + + diff --git a/fanuc_crx10ia_support/launch/robot_interface_streaming_crx10ial.launch b/fanuc_crx10ia_support/launch/robot_interface_streaming_crx10ial.launch new file mode 100644 index 00000000..de4e66aa --- /dev/null +++ b/fanuc_crx10ia_support/launch/robot_interface_streaming_crx10ial.launch @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + diff --git a/fanuc_crx10ia_support/launch/robot_state_visualize_crx10ial.launch b/fanuc_crx10ia_support/launch/robot_state_visualize_crx10ial.launch new file mode 100644 index 00000000..719e6d75 --- /dev/null +++ b/fanuc_crx10ia_support/launch/robot_state_visualize_crx10ial.launch @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/fanuc_crx10ia_support/launch/test_crx10ial.launch b/fanuc_crx10ia_support/launch/test_crx10ial.launch new file mode 100644 index 00000000..ad05648f --- /dev/null +++ b/fanuc_crx10ia_support/launch/test_crx10ial.launch @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/fanuc_crx10ia_support/meshes/crx10ial/collision/base_link.stl b/fanuc_crx10ia_support/meshes/crx10ial/collision/base_link.stl new file mode 100644 index 00000000..72d2dc2b Binary files /dev/null and b/fanuc_crx10ia_support/meshes/crx10ial/collision/base_link.stl differ diff --git a/fanuc_crx10ia_support/meshes/crx10ial/collision/link_1.stl b/fanuc_crx10ia_support/meshes/crx10ial/collision/link_1.stl new file mode 100644 index 00000000..35bbfdee Binary files /dev/null and b/fanuc_crx10ia_support/meshes/crx10ial/collision/link_1.stl differ diff --git a/fanuc_crx10ia_support/meshes/crx10ial/collision/link_2.stl b/fanuc_crx10ia_support/meshes/crx10ial/collision/link_2.stl new file mode 100644 index 00000000..2292e2a7 Binary files /dev/null and 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differ diff --git a/fanuc_crx10ia_support/meshes/crx10ial/visual/link_3.stl b/fanuc_crx10ia_support/meshes/crx10ial/visual/link_3.stl new file mode 100644 index 00000000..95725e1d Binary files /dev/null and b/fanuc_crx10ia_support/meshes/crx10ial/visual/link_3.stl differ diff --git a/fanuc_crx10ia_support/meshes/crx10ial/visual/link_4.stl b/fanuc_crx10ia_support/meshes/crx10ial/visual/link_4.stl new file mode 100644 index 00000000..324a74d7 Binary files /dev/null and b/fanuc_crx10ia_support/meshes/crx10ial/visual/link_4.stl differ diff --git a/fanuc_crx10ia_support/meshes/crx10ial/visual/link_5.stl b/fanuc_crx10ia_support/meshes/crx10ial/visual/link_5.stl new file mode 100644 index 00000000..6700ed70 Binary files /dev/null and b/fanuc_crx10ia_support/meshes/crx10ial/visual/link_5.stl differ diff --git a/fanuc_crx10ia_support/meshes/crx10ial/visual/link_6.stl b/fanuc_crx10ia_support/meshes/crx10ial/visual/link_6.stl new file mode 100644 index 00000000..0acd4224 Binary files /dev/null and b/fanuc_crx10ia_support/meshes/crx10ial/visual/link_6.stl differ diff --git a/fanuc_crx10ia_support/package.xml b/fanuc_crx10ia_support/package.xml new file mode 100644 index 00000000..4dc8037b --- /dev/null +++ b/fanuc_crx10ia_support/package.xml @@ -0,0 +1,68 @@ + + + + fanuc_crx10ia_support + 0.1.0 + +

+ ROS-Industrial support for the Fanuc CRX-10iA (and variants). +

+

+ This package contains configuration data, 3D models and launch files + for Fanuc CRX-10iA manipulators. This currently includes the /L model only. +

+

Specifications:

+ +

+ Joint limits and maximum joint velocities are based on the information in + the FANUC Robot CRX-10iA, CRX-10iA/L Mechanical Unit Operator's Manual + version B-84194EN/01. All urdfs are based on the default motion and + joint velocity limits, unless noted otherwise (ie: no support for high + speed joints, extended / limited motion ranges or other options). +

+

+ Before using any of the configuration files and / or meshes included + in this package, be sure to check they are correct for the particular + robot model and configuration you intend to use them with. +

+ + Ademola Oridate (Wilder Systems Robots) + G.A. vd. Hoorn (TU Delft Robotics Institute) + BSD + + http://wiki.ros.org/fanuc_crx10ia_support + https://github.com/ros-industrial/fanuc/issues + https://github.com/ros-industrial/fanuc + + catkin + + roslaunch + + fanuc_driver + fanuc_resources + industrial_robot_client + joint_state_publisher + robot_state_publisher + rviz + xacro + + + + + + crx10ia + description + fanuc + industrial + ros-industrial + support_package + experimental + + + + + + + diff --git a/fanuc_crx10ia_support/readme.md b/fanuc_crx10ia_support/readme.md new file mode 100644 index 00000000..161ce43b --- /dev/null +++ b/fanuc_crx10ia_support/readme.md @@ -0,0 +1,14 @@ +# fanuc_crx10ia_support + +## Overview + +This package is part of the [ROS-Industrial][] program. See the main +[fanuc_experimental][] page on the ROS wiki for more information on usage. + +## Contents + +See `package.xml` for information about the contents of this package. + + +[ROS-Industrial]: http://wiki.ros.org/Industrial +[fanuc_experimental]: http://wiki.ros.org/fanuc_experimental diff --git a/fanuc_crx10ia_support/tests/roslaunch_test_crx10ial.xml b/fanuc_crx10ia_support/tests/roslaunch_test_crx10ial.xml new file mode 100644 index 00000000..3dffa196 --- /dev/null +++ b/fanuc_crx10ia_support/tests/roslaunch_test_crx10ial.xml @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/fanuc_crx10ia_support/urdf/crx10ial.xacro b/fanuc_crx10ia_support/urdf/crx10ial.xacro new file mode 100644 index 00000000..97d5c1e5 --- /dev/null +++ b/fanuc_crx10ia_support/urdf/crx10ial.xacro @@ -0,0 +1,5 @@ + + + + + diff --git a/fanuc_crx10ia_support/urdf/crx10ial_macro.xacro b/fanuc_crx10ia_support/urdf/crx10ial_macro.xacro new file mode 100644 index 00000000..d66e7f19 --- /dev/null +++ b/fanuc_crx10ia_support/urdf/crx10ial_macro.xacro @@ -0,0 +1,181 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/fanuc_experimental/package.xml b/fanuc_experimental/package.xml index dce64229..9d433d0e 100644 --- a/fanuc_experimental/package.xml +++ b/fanuc_experimental/package.xml @@ -14,6 +14,7 @@ catkin + fanuc_crx10ia_support fanuc_r2000ib_support fanuc_r2000ic_support