Using motoman-ros and checking the simulation result on MotoSim

[Sahil Shembekar]

Hello @gavanderhoorn ,

I have the Yaskawa Motoman GP180 robot which I want to use for handling operation. Since the payload capacity of the robot is large I want to simulate the trajectory on the simulation software MotoSimbefore applying to the real robot.

Our goal is to

1. Use ros industrial API to move the robot based on our code.
2. Simulate the trajectory planning on MotoSim (This environment contains the safety fence and other objects for handling)
3. Once the simulation test is completed, test it on the real robot.

From the documentation Example: starting the streaming interface, I found that for FANUC robot it is possible to simulate the interface streaming on ROBOGUIDE by making the use_bswap:= false.

My question is

1. Is it actually possible to the do the same for MotoSim for Yaskawa motoman robot?
2. If it is possible, I want to know if the value for the robot_ip in the command roslaunch motoman_gp180_support robot_interface_streaming_gp180_120.launch robot_ip:=192.168.x.xx controller:=yrc1000 should be the ipv4 address or the some dummy ip value?
3. If it is not possible, what would you suggest as an alternative to simulate a close to exact scenario before testing on the real robot

System specification:

• Ubuntu 20.04.5 LTS with ros noetic on docker in a windows 11 PC.
• MotoSimEG-VRC-CadPack ver 2022

Best,
Sahil