Note This is a fork of a now deleted repository. Upstream was at
IvoD1998/Staubli_ROS2. I am not the developer, nor maintainer of the code in this fork.
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ROS2 port of the Staubli_VAL3_ROS driver with all components it requires
This repository contains a port for ROS2 for everything that is required to use Staubli robots using the CS9 controller. This includes a port of the ROS simple message package and everything it requires. Also included is a port of FAU-FAPS adaptive_motion_middleware package to enable velocity and pose tracking control. However, to use these features, you will need to install 'velocity' expansion for the CS9 controller. For more details about this functionality, visit the adaptive motion middleware repo at: https://github.com/FAU-FAPS/adaptive_motion_control.git
Included is a moveit config and description package for the Staubli TX2-60L model. If another CS9 capable robot is used, these files can be used as a template. In the moveit config, there are two launch files:
Fully simulated robot: staubli_tx2_60l_planning_execution_sim.launch.py
Real robot: staubli_tx2_60l_planning_execution_real.launch.py
There are 3 different options for using this package:
-
Using a simulated robot:
1) ros2 launch staubli_tx2_60l_planning_execution_sim.launch.py -
Using a real robot with moveit only:
1) ros2 launch staubli_tx2_60l_moveit_config staubli_tx2_60l_planning_execution_real.launch.py 2) ros2 launch staubli_tx2_60l_moveit_config staubli_val3_driver robot_interface_streaming.launch.py robot_ip:=<ROBOT_IP> -
Using a real robot with moveit and the adaptive motion middleware:
(In this situation, some of the communication will go via the middleware, using IP 127.0.0.1)
(For illustrative purposes, the entire launch sequence is written down here, in practice it is recommended to combine this in one launch file)
1) ros2 launch robot_middleware robot_middleware.launch.py 2) ros2 launch staubli_val3_driver robot_state.launch.py robot_ip:=127.0.1 3) ros2 launch staubli_val3_driver motion_streaming_interface.launch.py robot_ip:=127.0.0.1 4) ros2 launch staubli_val3_driver io_interface.launch.py robot_ip:=<ROBOT_IP> 5) ros2 launch staubli_val3_driver system_interface.launch.py robot_ip:=<ROBOT_IP> 6) ros2 launch staubli_tx2_60l_moveit_config staubli_tx2_60l_planning_execution_real.launch.py 7) ros2 run industrial_robot_client joint_trajectory_action 8) ros2 run moveit_interface moveit_interface planning_group:=manipulator