ros-industrial/staubli

ROS-Industrial Staubli support (http://wiki.ros.org/staubli)

Staubli

ROS-Industrial Staubli meta-package. See the ROS wiki page for more information.

The staubli_experimental repository contains additional packages.

Contents

Branch naming follows the ROS distribution they are compatible with. -devel branches may be unstable. Releases are made from distribution branches (hydro, indigo, kinetic).

Building

On newer (or older) versions of ROS

Building the packages on newer (or older) versions of ROS is in most cases possible and supported. For example: building the packages in this repository on Ubuntu Xenial/ROS Kinetic or Ubuntu Bionic/ROS Melodic systems is supported. This will require creating a Catkin workspace, cloning this repository, installing all required dependencies and finally building the workspace.

Catkin tools

It is recommended to use catkin_tools instead of the default catkin when building ROS workspaces. catkin_tools provides a number of benefits over regular catkin_make and will be used in the instructions below. All packages can be built using catkin_make however: use catkin_make in place of catkin build where appropriate.

Building the packages

The following instructions assume that a Catkin workspace has been created at $HOME/catkin_ws and that the source space is at $HOME/catkin_ws/src. Update paths appropriately if they are different on the build machine.

These instructions build the indigo-devel branch on a ROS Kinetic system:

# change to the root of the Catkin workspace
$ cd $HOME/catkin_ws

# retrieve the latest development version of staubli.
$ git clone -b indigo-devel https://github.com/ros-industrial/staubli.git src/staubli

# check build dependencies. Note: this may install additional packages,
# depending on the software installed on the machine
$ rosdep update

# be sure to change 'kinetic' to whichever ROS release you are using
$ rosdep install --from-paths src/ --ignore-src --rosdistro kinetic

# build the workspace (using catkin_tools)
$ catkin build

Activating the workspace

Finally, activate the workspace to get access to the packages just built:

$ source $HOME/catkin_ws/devel/setup.bash

At this point all packages should be usable (ie: roslaunch should be able to auto-complete package names starting with staubli_..). In case the workspace contains additional packages (ie: not from this repository), those should also still be available.

Installation and usage

Refer to Working With ROS-Industrial Robot Support Packages for information on how to use the files provided by the robot support and MoveIt configuration packages. See also the other pages on the ROS wiki.

Disclaimer

The author(s) of these packages is (are) not affiliated with Stäubli International AG in any way. All trademarks and registered trademarks are property of their respective owners, and company, product and service names mentioned in this readme or appearing in source code or other artefacts in this repository are used for identification purposes only. Use of these names does not imply endorsement by Stäubli International AG.

staubli's Issues

Add travis config.

As per subject.

Switch all support packages to nominal velocity limits

@marshallpowell97 wrote (in ros-industrial/staubli_val3_driver#2 (comment)):

From what I've been able to gather, the maximum values are a "best case" scenario, and cannot be expected from multiple joints at the same time. The motion descriptor only has a singular "vel" parameter which is applied to the joint that is moving the furthest and all of the other joints will move at a percentage of that. So using the nominal velocities would be my recommendation.

Fix & merge rx170 support package

As per subject.

rx160_support: failing test: missing resource: industrial_robot_client

Noticed in output of Travis run:

[staubli_rx160_support]   File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 200, in get_path 
[staubli_rx160_support]     raise ResourceNotFound(name, ros_paths=self._ros_paths) 
[staubli_rx160_support] rospkg.common.ResourceNotFound: industrial_robot_client 

all: fix indentation to match ros(cpp) style guide

The ROS(CPP) styleguide prescribes the use of spaces instead of tabs for indentation.

Ways to contribute to this Project

Hello,
As requested on ROS-Discourse I write an issue on the Github Repro of this driver. Currently I'm looking to learn more about every aspect of ROS, since working with ROS and this driver in particular will soon be part of my job. I would like to be able to do something, that benefits the Robot community as a final year project. (Bachelors Thesis) I was suggested a wide range of topics. (not all are related to this driver)

I'm currently looking for feedback regarding those ideas:

• Migrate this driver to ROS2?
• Build a "fool prove GUI" prototype for this Robot, to let non tech people "teach" the robot new skills?

Are there other Ideas how I could help, given I have 3 month time and limited experience?

Missing space in repository description

The description is missing a space between 'ROS-Industrial' and 'repository'.

ERROR: cannot launch node of type [industrial_robot_client/robot_state]: industrial_robot_client

hai,
I am trying connect the my tx2_60 robot (cs9 controller) with ROS. Initially i have created a move_it package from tx2_60 using staubli_tx2_60_support and i also have created a custom launch file for planning and execution (PFA). Even though my ros_server is up and running seamlessly in CS9(SP2) i am not able to connect to my robot. I get the following error message saying :-

ERROR: cannot launch node of type [industrial_robot_client/robot_state]: industrial_robot_client
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/ash/catkin_ws/src
ROS path [2]=/opt/ros/kinetic/share
ERROR: cannot launch node of type [industrial_robot_client/motion_streaming_interface]: industrial_robot_client
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/ash/catkin_ws/src
ROS path [2]=/opt/ros/kinetic/share
ERROR: cannot launch node of type [industrial_robot_client/joint_trajectory_action]: industrial_robot_client
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/ash/catkin_ws/src
ROS path [2]=/opt/ros/kinetic/share

I will also attach the .launch file that i have made for planning and execution

launch_fileindocs.txt

Can anyone suggest anyway to sort this out??

Thanks in advance

rx160_support: origin of link_6 collision geometry is incorrect

Just noticed this: the origin of the link_6 collision geometry STL is incorrect, causing it to be disconnected from the rest of the manipulator.

This would also influence MoveIt collision algorithms.

Are there efforts for a ros2 port?

Hi, is there any known effort to port this and the staubli_experimental package to ros2?

IKFast plugins fail to build on Melodic.

Hi,
I was trying to compile this package with ros melodic. Seems like there are some difficulties with the rx160 moveit config package( staubli_rx160_moveit_config). When I am trying to compile this package with catkin_make, I get the following Error:

/home/melchert/catkin_ws/src/staubli/staubli_rx160_moveit_plugins/rx160_kinematics/src/staubli_rx160_manipulator_ikfast_moveit_plugin.cpp:307:50: error: conversion from ‘urdf::JointSharedPtr {aka std::shared_ptr<urdf::Joint>}’ to non-scalar type ‘boost::shared_ptr<urdf::Joint>’ requested
     boost::shared_ptr<urdf::Joint> joint = link->parent_joint;
                                            ~~~~~~^~~~~~~~~~~~
/home/melchert/catkin_ws/src/staubli/staubli_rx160_moveit_plugins/rx160_kinematics/src/staubli_rx160_manipulator_ikfast_moveit_plugin.cpp:352:28: error: no match for ‘operator=’ (operand types are ‘boost::shared_ptr<urdf::Link>’ and ‘urdf::LinkSharedPtr {aka std::shared_ptr<urdf::Link>}’)
     link = link->getParent();

staubli/staubli_rx160_moveit_plugins/rx160_kinematics/CMakeFiles/staubli_rx160_manipulator_moveit_ikfast_plugin.dir/build.make:62: recipe for target 'staubli/staubli_rx160_moveit_plugins/rx160_kinematics/CMakeFiles/staubli_rx160_manipulator_moveit_ikfast_plugin.dir/src/staubli_rx160_manipulator_ikfast_moveit_plugin.cpp.o' failed
make[2]: *** [staubli/staubli_rx160_moveit_plugins/rx160_kinematics/CMakeFiles/staubli_rx160_manipulator_moveit_ikfast_plugin.dir/src/staubli_rx160_manipulator_ikfast_moveit_plugin.cpp.o] Error 1
CMakeFiles/Makefile2:4131: recipe for target 'staubli/staubli_rx160_moveit_plugins/rx160_kinematics/CMakeFiles/staubli_rx160_manipulator_moveit_ikfast_plugin.dir/all' failed
make[1]: *** [staubli/staubli_rx160_moveit_plugins/rx160_kinematics/CMakeFiles/staubli_rx160_manipulator_moveit_ikfast_plugin.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed

Besides the fact that I do not find that moveit packages really belong here, since it is easier for someone to build one suiting his own needs with the moveit_setup_assistant, I actually do not really know, how to get rid of this error.

What am I missing? MoveIt for Melodic is already installed.