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

How to Install

Use apt to install the packages.

apt install ros-kinetic-melfa-robot 

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

File truncated at 100 lines see the full file