grbl_ros

A simple ROS2 package for interfacing with a grbl device.

Currently supports: - polling status of grbl device - sending plain GCODE commands using ROS2 service

Supported Platforms

All Tier 1 platforms = Windows 10, Mac OS X, and either Ubuntu 18.04 or Ubuntu 20.04 OS | ROS 2 Version | ------------ | ------------- | All Tier 1 platforms | Dashing Diademata | All Tier 1 platforms | Eloquent Elusor | All Tier 1 platforms | Foxy Fitzroy | All Tier 1 platforms | Rolling Ridley |

Dashing and Eloquent target Ubuntu 18.04 while Foxy and Rolling target Ubuntu 20.04.

How to use

The grbl_ros package exposes two major functionalities to ROS: pose tracking of the GRBL device and sending commands to the GRBL device.

This package publishes a transform (aka tf) to the most recent machine coordinates received from the GRBL device. This allows for other ROS nodes to "know" where the machine is which can help enable many different functions.

Secondly this package runs two ROS2 actions: send_gcode_cmd and send_gcode_file. Both actions do what they say they do and enable the user to monitor the status of these actions as they happen.

Getting started

Quick start:

# for Ubuntu
sudo apt install ros-<your-distro>-grbl-ros

Fork and clone the repository if you'd like to compile it yourself. Once cloned, you can now build your workspace by running the following from your workspace's root directory:

colcon build

Once built, just make sure you've sourced your overlay (source /path/to/workspace/install/setup.bash) and you should be able to start up the grbl_ros node:

ros2 run grbl_ros grbl_node --ros-args --params-file /path/to/workspace/src/grbl_ros/config/cnc001.yaml

Before you can command your GRBL device to move, most likely you'll need to unlock it using the $X command:

ros2 action send_goal /cnc_001/send_gcode_cmd grbl_msgs/action/SendGcodeCmd '{command: $X}'

You should see Goal finished with status: SUCCEEDED and a print-out in the grbl_ros terminal that the GRBL device is now unlocked.

From here, you can send your device whatever GCODE commands you would like. Here are a few common ones to get you started:

ros2 action send_goal /cnc_001/send_gcode_cmd grbl_msgs/action/SendGcodeCmd '{command: X1.0}'
# TBD, recommend more if you'd like more to be listed here!

Testing

Unit tests are run on every PR and every release across every supported platform for each ROS2 release. Refer to the "actions" tab for this repository to see these tests yourself.

Contributing

Are you using grbl_ros? Do you like what functionality it provides but want it to do something more? PLEASE reach out!!! I want to hear from you! Make an issue, PR or smoke signal to get my attention as I would love to hear from you!

Changelog for package grbl_ros

0.0.15

• add extra line
• removed whitespace
• removed env var in test completely
• switched test from env var to try except
• fix pep257 error
• added geometry msgs to autodoc
• docs work, still need clean up
• trying to make docs work
• update readme & docs
• remove mkdir docs
• fixed copyright and flake8 errors
• Merge branch \'devel\' of github.com:flynneva/grbl_ros into devel
• add back in docs folder
• add mkdir docs
• prepare release
• Contributors: Evan Flynn

0.0.14

• separated methods to semantic file name
• Delete dashing-release.yml
• Update dashing-release.yml
• Update dashing-release.yml
• Update foxy-release-candidate.yml
• Update eloquent-release-candidate.yml
• Update dashing-release-candidate.yml
• Update dashing-release.yml
• Update and rename release.yml to dashing-release.yml
• Create foxy-release-candidate.yml
• Create eloquent-release-candidate.yml
• Merge pull request #21 from flynneva/devel specify distro in issue body
• specify distro in issue body
• Merge pull request #18 from flynneva/devel changed checkout branch name
• changed checkout branch name
• Merge pull request #16 from flynneva/devel renamed and specified branch to checkout
• renamed and specified branch to checkout
• Merge pull request #14 from flynneva/devel create dashing release candidate
• create dashing release candidate
• Update greetings.yml
• Merge pull request #12 from flynneva/devel vcs-repo-file-url param
• rolling not valid for this setup-ros release wait to switch to rolling until next setup-ros release
• run on rolling for main/devel
• remove mac from action
• switched to mac os and back to ros-tooling wg
• removed mac from matrix
• accidentally put uses on wrong step
• test action-ros-ci that sources ROS for windows
• test windows fix for ci
• vcs-repo-file-url param
• Merge pull request #11 from flynneva/devel Devel
• removed vcs-repo-file-url param
• bump action-ros-ci & add vcs repo url
• package should not be in matrix
• Merge pull request #10 from flynneva/devel added ros source binary for distro
• bumped ros ci to 0.0.18
• regressed to ros ci 0.0.15
• specify target distro
• specify target distro
• added ros source binary for distro
• Merge pull request #9 from flynneva/devel update readme and add release actions
• Merge pull request #8 from flynneva/update_readme Update readme & add release actions
• added release actions
• added testing section
• forgot to add ubuntu
• update readme
• Contributors: Evan Flynn

0.0.2 (2020-08-05)

• Merge branch \'main\' of github.com:flynneva/grbl_ros into main
• bump version
• Merge pull request #7 from flynneva/docs update readme
• update distro table
• README.md
• updated readme
• update readme
• Merge pull request #6 from flynneva/docs specify ros distro
• change dir name to ros_ws
• specify ros distro
• Merge pull request #5 from flynneva/docs add readme and fix pep257 error
• too many dashes
• add readme and fix pep257 error
• Merge pull request #4 from flynneva/docs add more verbose docs
• fixed lint errors
• add more verbose docs
• Merge pull request #3 from flynneva/docs updated docs publish dir
• updated docs publish dir
• Merge pull request #2 from flynneva/docs add sphinx documentation & gh pages action
• fixed lint errors
• added docs action
• add sphinx docs
• Merge pull request #1 from flynneva/actions added actions
• shortened comment
• removed duplicate fail-fast
• trying to get docker to work
• try to fix some bugs
• build errors
• try running ci on all OS\'s
• flake8 errors fixed
• ran cli ament_copyright
• fixing linting errors
• added license to each file
• trying to fix copyright tests
• added license and contributing.md
• added package name
• fixed vm to ubuntu 20.04
• trying to update virtual machine to focal 20.04
• updated to ros2 ci
• fixed some typos
• added actions
• Contributors: Evan Flynn