FANUC ROS1 Interface

fanuc_ros1

The fanuc_ros1 repository is a ROS1 interface for FANUC robot arms, specifically designed to work with the R-30iB+ controller. It provides a framework for motion planning and execution using MoveIt, along with various skills for industrial tasks.

Software Architecture

The fanuc_ros1 package is an interface layer that enables planning and execution via MoveIt, allows for peripheral control and launches the RViz GUI. In the standard ROS-I architecture, it would fit as shown below. Details and tutorials to setup the driver and interface can be found here.

FANUC_ROS Source: http://wiki.ros.org/Industrial

  • ROS-I Controller Layer is setup at the robot controller (R-30iB+). Details

  • ROS-I Interface Layer
    fanuc_lrmate200id_support
    Open-source community has a support package for many industrial robots, including LR Mate 200iD.

  • MoveIt Layer
    fanuc_lrmate200id7l_moveit_config
    We developed moveit configuration package for LR Mate 200iD robots which is used for trajectory planning.

  • Application Layer
    fc_tasks
    We developed a set of services and actions to perform various industrial tasks using the robot arm. These allow to develop custom application using the robot arm without worrying about the underlying motion planning and execution.

ROS Packages

  • fc_launch

  • fc_msgs

  • fanuc_lrmate200id_support

  • fanuc_lrmate200id7l_moveit_config

  • fanuc

  • fc_tasks

Note

fc_tasks is the core package which either uses other listed packages or packages, like fc_launch, use fc_tasks to launch the interface.

ROS Services

Service Name

Type

Description

/fc_get_pose

GetPose.srv

Retrieve the current pose of the robot

/fc_set_pose

SetPose.srv

Set a desired pose for the robot

/fc_set_joints

SetJoints.srv

Set robot joint values (uses BiTRRT for planning)

/fc_execute_trajectory

ExecuteKnownTrajectory.srv

Execute a predefined trajectory

/fc_stop_trajectory

StopTrajectory.srv

Stop the current trajectory execution

/fc_execute_cartesian_trajectory

ExecuteCartesianTrajectory.srv

Execute a cartesian space trajectory

/fc_execute_cartesian_trajectory_async

ExecuteCartesianTrajectory.srv

Execute a cartesian trajectory asynchronously

/set_io_value

SetIO.srv

Set or write a value to an I/O port

/read_io_value

ReadIO.srv

Read or get the value from an I/O port

ROS Actions

Action Name

Type

Description

/fc_go_to_pose

GoToPose.action

Move the robot to a specified pose

/fc_go_to_pose_async

GoToPose.action

Move the robot to a pose asynchronously

/fc_go_to_joints

GoToJoints.action

Move robot joints to target values (uses BiTRRT)

/fc_execute_cartesian_trajectory_action

ExecuteCartesianTrajectory.action

Execute a cartesian trajectory as an action

ROS Topic Subscribers

Topic

Topic Name/Type

Description

/check_moving

Status Topic

Indicates whether the robot or manipulator is currently moving

/execute_trajectory/status

Status Topic

Publishes the current status of the ongoing trajectory execution

/joint_states

Sensor Topic

Publishes the current joint positions, velocities, and efforts

ROS Topic Publishers

Topic Name

Type

Description

/tool0_pose

Pose Publisher

Publishes the current end effector (tool) pose

/io_states_DOUT

Digital Out

Publishes all Digital Output I/O states

/io_states_DIN

Digital In

Publishes all Digital Input I/O states

/io_states_AOUT

Analog Out

Publishes all Analog Output I/O states

/io_states_AIN

Analog In

Publishes all Analog Input I/O states

Note

Note: All methods called by these elements are detailed in the Doxygen formatting style.

Note

This package also enables Fanuc I/O control using comet_rpc. Using the io.launch file, a Fanuc_IO ROS node is launched with the following functionality

Tutorials