This is a ROS package of a Fanuc R1000iA 80f with a grinding end effector and a 3D sensor mounted on the end effector. This package aims to allow to automatically grind mechanical defects of parts given their CAD model.
The documentation folder contains explanations about how this package works.
| Directory | Description |
|---|---|
alignment |
Description/implementation of the alignment service |
comparison |
Description/implementation of the comparison service |
documentation |
Contains explication about this package usage |
execute_joint_state |
Description/implementation of a service to move the robot to a specific joint defined pose |
fanuc_grinding |
Contains the meta-package files |
path_planning |
Description/implementation of the path planning service. This makes use of the bezier package |
post_processor |
Description/implementation of the post processor service to create a Fanuc TP program. This makes use of the fanuc_post_processor package |
publish_meshfile |
Description/implementation of a service that publishes meshes/point clouds on markers |
rviz_plugin |
Contains the definition and implementation of the grinding RViz plugin |
scanning |
Description/implementation of the scanning service, the RViz plugin also allows to load a mesh/point cloud. |
- Robot Operating System
industrial-corefanucfanuc experimentalinstitut_maupertuis_robots_descriptionsbezierfanuc_post_processor
This package has been tested with Ubuntu 14.04 and ROS Indigo. The package was designed to be used with a Fanuc R1000iA-80f robot, however it should be easy to port it on other ROS compatible robots.
Install the dependencies by cloning the repositories into your catkin workspace.
cd to your catkin workspace source directory:
git clone https://github.com/InstitutMaupertuis/fanuc_grinding.git &&\
cd .. &&\
catkin build
Simulation:
roslaunch fanuc_grinding_rviz_plugin r1000ia_sls_2.launch
Load a scan from the drive to skip the scanning part.
Real hardware:
roslaunch fanuc_grinding_rviz_plugin r1000ia_sls_2.launch \
sim:=false \
robot_ip:=192.168.100.200
Make sure to test the David SLS-2 configuration before testing with this application.
It is here.