ROS1 Controller for FANUC- CRX Robot with ROS-Noetic

Software and Library Requirements

• Ubuntu 20.04 LTS

• ROS Noetic If you are new to ROS, go here to learn how to create a catkin workspace.

• pykdl_utils Higher Level Python wrapper for PyKDL in ROS for Kinematic Solver

• Python native libraries Scipy, Numpy

Clone the repo in the Catkin workspace - ROS1

In a Terminal

cd ~/catkin_ws/src/
git clone https://gitlab.com/KeerthiSagarSN/fanuc_ros_controller

Library Installation - Only if not preinstalled

Clone Fanuc Robot- Modified (Experimental) from original repository fanuc_experimental

git clone https://github.com/KeerthiSagarSN/fanuc_experimental
git checkout noetic-devel

Clone Fanuc repository- For Fanuc_drivers

git clone https://github.com/ros-industrial/fanuc
git checkout melodic-devel

Clone PyKDL - From OROCOS-KDL Repository - Latest Branch

git clone https://github.com/orocos/orocos_kinematics_dynamics.git

Clone Pykdl - Kinematics Wrapper Repository - Edited for Python 3 and ROS Noetic Compatible

git clone https://github.com/KeerthiSagarSN/hrl-kdl.git
git checkout Noetic-devel
sudo apt-get install ros-noetic-urdf-parser-plugin
sudo apt-get install ros-noetic-urdfdom-py

Clone KDL-Parser- ROS-Noetic

git clone https://github.com/ros/kdl_parser.git

Catkin Build/ Catkin Make - Build & Source all repositories in Catkin Workspace

cd ..
catkin build
source devel/setup.bash

IF you encounter CMAKE Error : Install all ROS- Dependencies - (Only when CMAKE Error !)

Replace underscores "_" with "-" in the package name while typing in the MISSING-PACKAGE below

sudo apt install ros-noetic-MISSING-PACKAGE

ROS - Preliminary Dependencies - Install Only if required

$ sudo apt-get install ros-$ROS_DISTRO-robot-state-publisher ros-$ROS_DISTRO-joint-state-publisher
$ sudo apt-get install ros-$ROS_DISTRO-joint-state-publisher-gui

To Visualize UR5 robot in Rviz

$ roslaunch fanuc_crx10ia_support test_crx10ial.launch

Launch the Controller

Fanuc CRX

$ roslaunch fanuc_ros_controller fanuc_ros_controller.launch