staubli_val3_driver package from staubli_experimental repostaubli_experimental staubli_rx160_gazebo staubli_tx60_gazebo staubli_tx60_support staubli_tx90_gazebo staubli_tx90_support staubli_val3_driver |
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Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache 2.0 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-industrial/staubli_experimental.git |
VCS Type | git |
VCS Version | indigo-devel |
Last Updated | 2018-04-06 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Murilo Martins
- G.A. vd. Hoorn (TU Delft Robotics Institute)
Authors
- Murilo Martins
ROS-Industrial driver (server) for Staubli robots
Overview
This ROS-I driver was developed in Staubli’s VAL3 language for use with 6-axis Staubli robot manipulators.
It is advisable to try this driver on Staubli’s emulator first.
Requirements
- Staubli 6-axis robot manipulator
- Staubli CS8 controller
- it may work with other controllers, but this driver was tested on CS8 only
- VAL3 version s7.7.2 or greater
- this is very important, since this implementation uses return values of
sioGet()
only available from s7.7.2 onwards
- this is very important, since this implementation uses return values of
Installation
Installing the driver to a Staubli controller simply consists of transferring the
contents of the val3
folder to the controller itself.
Clone this repository
Clone branch indigo-devel
of staubli_experimental:
git clone https://github.com/ros-industrial/staubli_experimental -b indigo-devel
Transfer driver to Staubli CS8 controller
There are several ways of transferring VAL3 applications to a Staubli controller.
The simplest method is probably copying the contents of val3
folder into
a USB memory stick (<2GB given the CS8 limitations), plugging the stick to the
controller and using the teach pendant to copy the folders.
Open the VAL3 application with Staubli SRS
Although it is possible to edit the source files with any text editor (they are essentially XML files), it is advisable to use the Staubli Robotics Suite:
- Copy contents of folder
val3
into theusrapp
folder of the Staubli cell - Open the
ros_server
VAL3 project located inside theros_server
folder
SRS offers autocompletion, syntax highlighting and syntax checking, amongst other useful features, such as a Staubli controller/teach pendant emulator.
Usage
Load driver from (real or emulated) teach pendant
From Main menu
:
- Application manager –> Val3 applications
- +Disk –> ros_server
Configuration
The TCP sockets on the CS8 controller/emulator must be configured prior to using the driver, otherwise a runtime error will be displayed on the teach pendant and the driver will not work.
Two sockets (TCP Servers) are required. From Main menu
:
- Control panel –> I/O –> Socket –> TCP Servers
- Configure two sockets
- Name: Feedback, Port: 11002, Timeout: -1, Delimiter: 13, Nagle: Off
- Name: Motion, Port: 11000, Timeout: -1, Delimiter: 13, Nagle: Off
Run the driver (ROS-I server)
Check that:
- The contents of the
val3
folder (bothros_server
andros_libs
folders) have been transferred to the Staubli controller - The VAL3 application
ros_server
has been loaded - Both TCP Server sockets have been configured properly
Then simply press the Run
button, ensure that ros_server
is highlighted,
then press F8
(Ok).
Notice that depending on which mode of operation is currently active, the motors
may need to be enabled manually (a message will pop up on the screen). Likewise,
the robot will only move if the Move
button has been pressed (or is kept pressed
if in manual mode).
Run the industrial_robot_client node (ROS-I client)
The indigo-devel
branch provides launch files (within the staubli_val3_driver
ROS package). Simply run:
roslaunch staubli_val3_driver robot_interface_streaming.launch robot_ip:=<CS8 controller IP address>
Bugs, suggestions and feature requests
Please report any bugs you may find, make any suggestions you may have and request new features you may find useful via GitHub.
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
catkin | |
industrial_robot_client | |
roslaunch |
System Dependencies
Dependant Packages
Name | Deps |
---|---|
staubli_experimental |
Launch files
- launch/robot_state.launch
- Wrapper launch file for the Staubli specific robot_state node.
-
- robot_ip
- launch/motion_streaming_interface.launch
- Wrapper launch file for the Staubli specific motion streaming interface node.
-
- robot_ip
- launch/robot_interface_streaming.launch
-
- robot_ip
- tests/roslaunch_test.xml
Messages
Services
Plugins
Recent questions tagged staubli_val3_driver at Robotics Stack Exchange
staubli_val3_driver package from staubli_val3_driver repostaubli_val3_driver |
|
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache 2.0 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-industrial/staubli_val3_driver.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2021-09-29 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- G.A. vd. Hoorn (TU Delft Robotics Institute)
Authors
- Murilo Martins
ROS-Industrial driver (server) for Staubli robots
Overview
This ROS-I driver was developed in Staubli’s VAL 3 language for use with 6-axis Staubli robot manipulators.
It is advisable to try this driver on Staubli’s emulator in Staubli Robotics Suite (SRS) first.
Requirements
- Staubli 6-axis robot manipulator
- Staubli CS8/CS9 controller
- VAL 3 version s7.7.2 or greater
- this is very important, since this implementation uses return values of
sioGet()
only available from s7.7.2 onwards
- this is very important, since this implementation uses return values of
- Staubli Robotics Suite 2019 (not required but strongly recommended)
Installation
Installing the driver to a Staubli controller simply consists of transferring the
contents of the val3
folder to the controller itself.
Clone this repository
Clone branch master
of staubli_val3_driver:
git clone https://github.com/ros-industrial/staubli_val3_driver
Transfer driver to Staubli controller
There are multiple ways of transferring VAL 3 applications to the controller:
-
Copy the contents of
val3
folder onto a USB memory stick (<2GB if using CS8), plugging the stick into the controller and using the teach pendant to copy the folders -
Use the Transfer Manager in SRS to copy the contents of
val3
folder to the controller. (Home -> Controller -> Transfer Manager) -
Use an FTP software to copy the contents of
val3
folder to the controller.
Open the VAL 3 application with Staubli SRS
Although it is possible to edit the source files with any text editor (they are essentially XML files), it is advisable to use Staubli Robotics Suite:
- Copy contents of folder
val3
into theusrapp
folder of the Staubli cell - Open the
ros_server
VAL 3 appplication located inside theros_server
folder
SRS offers autocompletion, syntax highlighting and syntax checking, amongst other useful features, such as a Staubli controller/teach pendant emulator.
Usage
Load driver from (real or emulated) teach pendant
From Main menu
:
- Application manager –> Val3 applications
- +Disk –> ros_server
Configuration
The TCP sockets on the CS8/CS9 controller/emulator must be configured prior to using the driver, otherwise a runtime error will be displayed on the teach pendant and the driver will not work.
Two sockets (TCP Servers) are required.
CS8
From Main menu
:
- Control panel –> I/O –> Socket –> TCP Servers
- Configure two sockets
- Name: Feedback, Port: 11002, Timeout: -1, End of string: 13, Nagle: Off
- Name: Motion, Port: 11000, Timeout: -1, End of string: 13, Nagle: Off
CS9
From Home
:
- IO –> Socket –> TCP Servers –> “+”
- Configure two sockets
- Name: Feedback, Port: 11002, Timeout: -1, End of string: 13, Nagle: Off
- Name: Motion, Port: 11000, Timeout: -1, End of string: 13, Nagle: Off
Run the driver (ROS-I server)
Check that:
- The contents of the
val3
folder (bothros_server
andros_libs
folders) have been transferred to the Staubli controller - The VAL 3 application
ros_server
has been loaded - Both TCP Server sockets have been configured properly
CS8
Press the Run
button, ensure that ros_server
is highlighted,
then press F8
(Ok).
CS9
VAL# –> Memory –> select ros_server
–> ▶
Notice that depending on which mode of operation is currently active, the motors
may need to be enabled manually (a message will pop up on the screen). Likewise,
the robot will only move if the Move
button has been pressed (or is kept pressed
if in manual mode).
Run the industrial_robot_client node (ROS-I client)
The kinetic-devel
branch provides launch files (within the staubli_val3_driver
ROS package). Simply run:
roslaunch staubli_val3_driver robot_interface_streaming.launch robot_ip:=<Controller IP address>
Bugs, suggestions and feature requests
Please report any bugs you may find, make any suggestions you may have and request new features you may find useful via GitHub.
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
catkin | |
industrial_robot_client | |
roslaunch |
System Dependencies
Dependant Packages
Launch files
- launch/robot_state.launch
- Wrapper launch file for the Staubli specific robot_state node.
-
- robot_ip
- launch/motion_streaming_interface.launch
- Wrapper launch file for the Staubli specific motion streaming interface node.
-
- robot_ip
- launch/robot_interface_streaming.launch
-
- robot_ip
- tests/roslaunch_test.xml
Messages
Services
Plugins
Recent questions tagged staubli_val3_driver at Robotics Stack Exchange
staubli_val3_driver package from staubli_val3_driver repostaubli_val3_driver |
|
Package Summary
Tags | No category tags. |
Version | 0.1.0 |
License | Apache 2.0 |
Build type | CATKIN |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros-industrial/staubli_val3_driver.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2021-09-29 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- G.A. vd. Hoorn (TU Delft Robotics Institute)
Authors
- Murilo Martins
ROS-Industrial driver (server) for Staubli robots
Overview
This ROS-I driver was developed in Staubli’s VAL 3 language for use with 6-axis Staubli robot manipulators.
It is advisable to try this driver on Staubli’s emulator in Staubli Robotics Suite (SRS) first.
Requirements
- Staubli 6-axis robot manipulator
- Staubli CS8/CS9 controller
- VAL 3 version s7.7.2 or greater
- this is very important, since this implementation uses return values of
sioGet()
only available from s7.7.2 onwards
- this is very important, since this implementation uses return values of
- Staubli Robotics Suite 2019 (not required but strongly recommended)
Installation
Installing the driver to a Staubli controller simply consists of transferring the
contents of the val3
folder to the controller itself.
Clone this repository
Clone branch master
of staubli_val3_driver:
git clone https://github.com/ros-industrial/staubli_val3_driver
Transfer driver to Staubli controller
There are multiple ways of transferring VAL 3 applications to the controller:
-
Copy the contents of
val3
folder onto a USB memory stick (<2GB if using CS8), plugging the stick into the controller and using the teach pendant to copy the folders -
Use the Transfer Manager in SRS to copy the contents of
val3
folder to the controller. (Home -> Controller -> Transfer Manager) -
Use an FTP software to copy the contents of
val3
folder to the controller.
Open the VAL 3 application with Staubli SRS
Although it is possible to edit the source files with any text editor (they are essentially XML files), it is advisable to use Staubli Robotics Suite:
- Copy contents of folder
val3
into theusrapp
folder of the Staubli cell - Open the
ros_server
VAL 3 appplication located inside theros_server
folder
SRS offers autocompletion, syntax highlighting and syntax checking, amongst other useful features, such as a Staubli controller/teach pendant emulator.
Usage
Load driver from (real or emulated) teach pendant
From Main menu
:
- Application manager –> Val3 applications
- +Disk –> ros_server
Configuration
The TCP sockets on the CS8/CS9 controller/emulator must be configured prior to using the driver, otherwise a runtime error will be displayed on the teach pendant and the driver will not work.
Two sockets (TCP Servers) are required.
CS8
From Main menu
:
- Control panel –> I/O –> Socket –> TCP Servers
- Configure two sockets
- Name: Feedback, Port: 11002, Timeout: -1, End of string: 13, Nagle: Off
- Name: Motion, Port: 11000, Timeout: -1, End of string: 13, Nagle: Off
CS9
From Home
:
- IO –> Socket –> TCP Servers –> “+”
- Configure two sockets
- Name: Feedback, Port: 11002, Timeout: -1, End of string: 13, Nagle: Off
- Name: Motion, Port: 11000, Timeout: -1, End of string: 13, Nagle: Off
Run the driver (ROS-I server)
Check that:
- The contents of the
val3
folder (bothros_server
andros_libs
folders) have been transferred to the Staubli controller - The VAL 3 application
ros_server
has been loaded - Both TCP Server sockets have been configured properly
CS8
Press the Run
button, ensure that ros_server
is highlighted,
then press F8
(Ok).
CS9
VAL# –> Memory –> select ros_server
–> ▶
Notice that depending on which mode of operation is currently active, the motors
may need to be enabled manually (a message will pop up on the screen). Likewise,
the robot will only move if the Move
button has been pressed (or is kept pressed
if in manual mode).
Run the industrial_robot_client node (ROS-I client)
The kinetic-devel
branch provides launch files (within the staubli_val3_driver
ROS package). Simply run:
roslaunch staubli_val3_driver robot_interface_streaming.launch robot_ip:=<Controller IP address>
Bugs, suggestions and feature requests
Please report any bugs you may find, make any suggestions you may have and request new features you may find useful via GitHub.
Wiki Tutorials
Package Dependencies
Deps | Name |
---|---|
catkin | |
industrial_robot_client | |
roslaunch |
System Dependencies
Dependant Packages
Launch files
- launch/robot_state.launch
- Wrapper launch file for the Staubli specific robot_state node.
-
- robot_ip
- launch/motion_streaming_interface.launch
- Wrapper launch file for the Staubli specific motion streaming interface node.
-
- robot_ip
- launch/robot_interface_streaming.launch
-
- robot_ip
- tests/roslaunch_test.xml