[Discourse.ros.org] [ROS-Industrial] Api dx100 motoman

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[Discourse.ros.org] [ROS-Industrial] Api dx100 motoman

Gary Edwards via ros-users


Hi everyone,
I find this info http://docs.ros.org/groovy/api/dx100/html/classmotoman_1_1controller_1_1Controller.html with classes for functions of the controller dx100 motoman. But I don't find the package, someone know something on about?





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[Discourse.ros.org] [ROS-Industrial] Api dx100 motoman

Gary Edwards via ros-users


I search on github and found this https://github.com/evenator/swri-ros-pkg/tree/master/motoman/dx100 , hope it's what you're looking for.





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[Discourse.ros.org] [ROS-Industrial] Api dx100 motoman

Gary Edwards via ros-users
In reply to this post by Gary Edwards via ros-users


The `dx100` package was merged into the current `motoman_driver` package, quite some time ago already (notice the `groovy` version specifier in the link you include). Most of the functionality was kept in the `motoman_driver` version of MotoROS (the MotoPlus application that is part of `motoman_driver`).

Can you clarify what it is that you are trying to do? The `.c` files in MotoROS are not usable outside the MotoROS runtime environment, so they can't be used in a plain (ROS) application.





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[Discourse.ros.org] [ROS-Industrial] Api dx100 motoman

Gary Edwards via ros-users


I'm try read and write jobs (in network), also I'm try read and write IO digitals for actuators with this [services](https://github.com/gavanderhoorn/motoman/tree/io_support_kinetic-devel_head_yuvraj).





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[Discourse.ros.org] [ROS-Industrial] Api dx100 motoman

Gary Edwards via ros-users


Digital IO is partially supported, although it's recommended to use a fieldbus for any serious work.

As to reading/writing jobs, that functionality was not maintained, as it's not needed for plain/typical use of MotoROS. You could see whether the functions you found in `dx100` could be ported to MotoROS, but you'd need a MotoPlus license and SDK to be able to compile the resulting custom MotoROS application.





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[Discourse.ros.org] [ROS-Industrial] Api dx100 motoman

Gary Edwards via ros-users


@Sinai_Aranda We have ROS support for executing Yaskawa INFORM-Jobs, reading&writing IOs & Variables for DX100 in our Motoman-Fork which ships with the [Rosvita](https://xamla.com/en/) beta. It comes also with simulation of all the Motoman ROS services for testing of programms without a real robot. We have tested so far on a DX100 and a FS100 with SDA10 robots.

You can see the functionality in our [Motoman plugin video](https://www.youtube.com/watch?v=waSYmm5U6fA). The software is in beta, for more details see our [web site](https://xamla.com/en/) or our other [videos](https://www.youtube.com/xamla). Which robot are you using?

(I will post more details about Rosvita in 8-12 weeks with an official announcement.)





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[Discourse.ros.org] [ROS-Industrial] Api dx100 motoman

Gary Edwards via ros-users
In reply to this post by Gary Edwards via ros-users


How the service is displayed for read/write IO? I use this [motoman_driver](https://github.com/gavanderhoorn/motoman/tree/io_support_kinetic-devel_head_yuvraj) but dont' see the services, just these:

    /apply_planning_scene
    /check_state_validity
    /clear_octomap
    /compute_cartesian_path
    /compute_fk
    /compute_ik
    /get_planner_params
    /get_planning_scene
    /joint_path_command
    /joint_state/get_loggers
    /joint_state/set_logger_level
    /joint_trajectory_action/get_loggers
    /joint_trajectory_action/set_logger_level
    /motion_streaming_interface/get_loggers
    /motion_streaming_interface/set_logger_level
    /move_group/get_loggers
    /move_group/load_map
    /move_group/ompl/set_parameters
    /move_group/plan_execution/set_parameters
    /move_group/planning_scene_monitor/set_parameters
    /move_group/save_map
    /move_group/sense_for_plan/set_parameters
    /move_group/set_logger_level
    /move_group/trajectory_execution/set_parameters
    /plan_kinematic_path
    /query_planner_interface
    /robot_disable
    /robot_enable
    /robot_state_publisher/get_loggers
    /robot_state_publisher/set_logger_level
    /rosout/get_loggers
    /rosout/set_logger_level
    /rviz_cidesinl_Latitude_E7440_17859_1524414952469953015/get_loggers
    /rviz_cidesinl_Latitude_E7440_17859_1524414952469953015/reload_shaders
    /rviz_cidesinl_Latitude_E7440_17859_1524414952469953015/set_logger_level
    /rviz_cidesinl_Latitude_E7440_18623_3907590068502462876/get_loggers
    /rviz_cidesinl_Latitude_E7440_18623_3907590068502462876/motionplanning_planning_scene_monitor/set_parameters
    /rviz_cidesinl_Latitude_E7440_18623_3907590068502462876/reload_shaders
    /rviz_cidesinl_Latitude_E7440_18623_3907590068502462876/set_logger_level
    /rviz_cidesinl_Latitude_E7440_4627_1334424159706565336/get_loggers
    /rviz_cidesinl_Latitude_E7440_4627_1334424159706565336/reload_shaders
    /rviz_cidesinl_Latitude_E7440_4627_1334424159706565336/set_logger_level
    /set_planner_params
    /stop_motion





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