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Package Summary

Tags No category tags.
Version 0.0.0
License TODO: License declaration
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/paolofrance/ros2_fanuc_interface.git
VCS Type git
VCS Version paolo
Last Updated 2025-01-24
Dev Status UNMAINTAINED
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

TODO: Package description

Additional Links

No additional links.

Maintainers

  • user

Authors

No additional authors.

crx_description

the ROS2 desription package for Fanuc CRX- robots family

Usage

To visualize the robot, install the repository, build and source the workspace. In the sourced terminal type

ros2 launch crx_description view_robot.launch.py robot_type:=[crx5ia,crx10ia,crx10ia_l,crx20ia_l,crx25ia,crx30ia]

RViz and a GUI will let you visualize and move the virtual robot around, as shown in the image below.

Alt text

Sources

The meshes of the CRX5iA, CRX25iA, and CRX30iA are extracted from RoboDK models.

The meshes for the CRX10iA-l and CRX20iA-l are extracted from GrabCAD.

Considerations

This package assumes CRX10iA-L and CRX20iA-l have same dimensions with the only visible difference according to the datasheets provided by Fanuc regarding joint 6 limitations 380 deg for the CRX10iA-l and 450 deg for the CRX20iA-l, respectively.

This package also assumes CRX25iA and CRX30iA have same dimensions according to the datasheets provided by Fanuc.

Development

The presented URDFs have been tested and verified on real robots for the CRX10iA-l, CRX20iA-l and CRX25iA only.

For the other modules please be careful. If you can provide us with any feedback, please let us know.

Please double check joint limit values if anything does not work as expected. Datasheets here.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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