melfa_robot

This package is to control the MELFA's robot arms using ROS.

Supported hardware

Robot controllers

Currently melfa_driver is checked with the following MELFA robot controller.

CR750-Q

Robot arms

Currently melfa_description contains the models of following MELFA robots.

RV4FL

RV7FL

Quick start with the loop back node

melfa_driver/melfa_driver_node is the controller node, providing hardware_interface::RobotHW. This controller communicates with the actual robot controller, or the simulator named RT Toolbox3 on Windows via Ethernet(TCP/IP).

In case that you don't have both of the controller and simulator, the package contains the loop-back(dummy) node mimicking the robot controller. It is melfa_driver/melfa_loopback_node. This node set the current joint angle identical to commanded value, and return them as current state.

When you want to use the loopback node, launch the system as:

$ roslaunch melfa_driver melfa_driver.launch loopback:=true 

Go to the section to check it works.

Quick start with the RT ToolBox3

If you have RT ToolBox 3, the optional software of MELFA robot, you can use this package with it in the simulation mode.

• RT ToolBox3

You have to place your ROS PC and RT ToolBox3 (Windows) PC in the same network.

Run RT ToolBox3

Bring up the RT Toolbox3 by double clicking. You would see the screen like this:

Create a new project file (need only once)

By pressing New button to create a new project file. In the following wizard screen, push Next.

In 2. Robot Model, choose your robot. In this case, we choose FD Series CR750-D and RV-7FL-D. Push Next button.

In 3. Communication, enter the IP address and gateway address of the Windows PC. Just using Copy the setting of this machine will work. In this example, 192.168.0.23 is the address of the Windows PC.

Program for real-time external control

The ROS package expects the controller is running in Real time external control mode, which receive the continuous TCP/IP packet from external machine. You have to create a program file in the Program folder in the Workspace.

Open "ENET:192.168.0.12" As #1
Mxt 1,1
End

In this example, 192.168.0.12 is the IP address of ROS PC. Make sure it is correct, or the controller cannot receive the packet.

Switch to the simulation mode

Push Simulation button under Home tab to switch into the simulation mode. You would see your robot model and the controller panel on the screen.

Run the program

Push the Select button on the right side of Program: to select the program file name which we formally created.

Push the Run button on the controller panel.

Start ROS Controller

Now bring up the ROS controller node with the launch file. robot_ip parameter should be the address of the PC on which the simulator is running.

$ roslaunch melfa_driver melfa_driver.launch \
                 robot_ip:=192.168.0.23 --screen

Go to the section to check it works.

Quick start with actual robot controller

The actual robot should work as same as the simulator... but BE CAREFUL!! The robot will move out of your intention. It may collide with the environment or human beings. Please make sure you can do experiments safely with your robot.

You have to place your ROS PC and the controller in the same network.

Program for real time external control

You need the program for real time external control as same as in the simulator. Create the following program with the pendant (or just transfer the file from RT Toolbox3).

Ovrd 10
Open "ENET:192.168.0.12" As #1
Mxt 1,1
End

Ovrd 10 is limiting the joint velocity for safety. In this example, 192.168.0.12 is the IP address of ROS PC. Make sure it is correct, or the controller cannot receive the packet.

Check the IP address of the controller to use it afterwards.

Run the program

Run the program with the pendant. It will be same as usual usage.

Start ROS Controller

Now bring up the ROS controller node with the launch file. robot_ip parameter should be the address of the robot controller.

$ roslaunch melfa_driver melfa_driver.launch \
                 robot_ip:=192.168.0.23 --screen

Go to the section to check it works.

Check the system works

Once the system is brought up, the way to command the robot is same in the either way.

If you don't have the view of the robot model in Rviz and you want it, launch rviz as:

$ roslaunch melfa_description rviz.launch use_gui:=false

With rqt plugin

You can use rqt plug-in JointTrajctoryController to control the robot joint angle using slider GUI.

$ rqt -s rqt_joint_trajectory_controller/JointTrajectoryController

rqt_joint_trajectory_controller

MoveIt!

You can try MoveIt! Rviz plug-in.

$ roslaunch rv7fl_moveit_config moveit_planning_execution.launch 

Currently there are moveit_config packages for the following robot.

RV4FL

RV7FL

License

• YOODS Inc. holds the copyright of all mesh files in melfa_description/mesh directory which are licensed under a Creative Commons Attribution-ShareAlike 4.0 International License.
• These MoveIt! configuration packages are licensed under BSD License, which are basically auto generated by MoveIt! setup assistant package.
  • rv4fl_moveit_config
  • rv7fl_moveit_config
• Other parts are licensed under Apache License 2.0.