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 | CI Status | ------------ | ------------- | --------- | 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.

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

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.

TODO

Here is a list of potential ideas/features this package could have. Eventually the plan is to add all of these. - full grbl command support & descriptions (non-modal commands, motion modes, etc.) - safety features that grbl already implements to be translated to ROS (door sensor, estop, endstop, etc.) - full file gcode streaming to grbl device - publish tf of grbl machine coordinates - ROS services for jog control - im sure there are more but I cant think of them right now

Changelog for package grbl_ros

0.1.1 (2020-09-03) -----------* added stream file function * fixed execution errors * Merge branch \'devel\' into eloquent-devel * moved grbl_device.py to _command.py * fixed merge conflicts for eloquent ci * restructure code * Merge pull request #33 from flynneva/restructure Restructure * fixed flake8 errors * added python3-serial to package.xml * dependency is pyserial not serial * removed old import * setup-ros reference master branch * switched ci to rolling for main and devel branches * added changelog for rolling release * 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 * Update and rename ros_ci.yml to eloquent_ci.yml * Delete release.yml * Delete release-candidate.yml * Merge pull request #21 from flynneva/devel * specify distro in issue body * Merge pull request #18 from flynneva/devel * changed checkout branch name * Merge pull request #16 from flynneva/devel * renamed and specified branch to checkout * Merge pull request #14 from flynneva/devel * create dashing release candidate * Update greetings.yml * Merge pull request #12 from flynneva/devel * rolling not valid for this setup-ros release 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 * only run if issue has eloquent in the issue * eloquent release * only run eloquent on eloquent branches * dashing release candidate * Delete greetings.yml * Delete docs.yml * only release dashing on dashing branch * run on rolling for main/devel * import main for dashing/eloquent * 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 * 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 * Merge pull request #8 from flynneva/update_readme 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

• 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
• Merge pull request #18 from flynneva/devel
• changed checkout branch name
• Merge pull request #16 from flynneva/devel
• renamed and specified branch to checkout
• Merge pull request #14 from flynneva/devel
• create dashing release candidate
• Update greetings.yml
• Merge pull request #12 from flynneva/devel
• rolling not valid for this 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
• 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
• 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
• Merge pull request #8 from flynneva/update_readme
• 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