ORiN2 Command Interface Control

The ORiN2 command interface allows to control DENSO robots by sending “high-level” commands to the robot controller. Considering robot motion, only the final target point is sent to the DENSO robot controller. Motion planning and trajectory generation are internally managed by the DENSO controller (the final robot trajectory is not exposed to ROS2 nodes).

Please refer to the ORiN2 Programming Manual for details about the available robot commands and their parameters:

• RC8 Provider User’s Guide
• RC9 Provider User’s Guide

Usage

The main launch file that starts the ORiN2 node is in the denso_robot_core package.

• COBOTTA robot:

   ros2 launch denso_robot_core denso_robot_core.launch.py model:=cobotta ip_address:=192.168.0.1
   

• NOT COBOTTA robot (e.g. VS-060 robot):

   ros2 launch denso_robot_core denso_robot_core.launch.py model:=vs060 ip_address:=192.168.0.1
   

Launch File Details

The main launch file that starts the ORiN2 node is in the denso_robot_core package:

   ros2 launch denso_robot_core denso_robot_core.launch.py model:=<robot_model> ip_address:=<robot_ip_address>
   

The arguments for launch files can be listed using:

   ros2 launch denso_robot_core denso_robot_core.launch.py --show-args
   

The most relevant arguments are the following:

• ip_address (mandatory) - IP address of the robot
• controller_name (default: "”) - string that will be assigned to the ORiN2 Robot Controller Object
• controller_type (default: 8) - type of robot controller (8 –> RC8 , 9 –> RC9)

• model (default: "”) - the model of the DENSO robot (COBOTTA, VS-060, etc.). In the original DENSO ROS2 stack 2 robot models are already available ( “cobotta” , “vs060”).

  CAUTION: When connecting to a COBOTTA you MUST specify this parameter !! (model:=cobotta)

• bcap_slave_control_cycle_msec (default: 8.0) - DENSO robot control cycle [ms]

PLEASE NOTE THAT THE model PARAMETER WILL ALSO SET A NAMESPACE FOR THE denso_robot_core NODE AND ASSOCIATED TOPICS, SERVICES AND ACTIONS !!

Commands Examples

NOTE: following example commands assume that the denso_robot_core node was launched with model parameter not set (default value: "”) !! When setting e.g. model:=cobotta, the name of the topics, actions and services will change from e.g. /ChangeMode to /cobotta/ChangeMode

Run the following commands in a new Terminal

• Get the list of available topics:

   ros2 topic list
   

Output will be:

   [...]

   /Arm0/ACCEL_Read
   /Arm0/CURRENT_ANGLE_Read
   /Arm0/CURRENT_POSITION_Read
   /Arm0/DECEL_Read
   /Arm0/EXTSPEED_Read
   /Arm0/EXTSPEED_Write
   /Arm0/SERVO_ON_Read
   /Arm0/SERVO_ON_Write
   /Arm0/SPEED_Read
   /Arm0_ChangeTool
   /Arm0_ChangeWork
   /Arm0_Speed
   /Arm0_armgroup
   /ChangeMode
   /CurMode
   /D_ID
   /D_Read
   /D_Write
   /EMERGENCY_STOP_Read
   /ERROR_CODE_Read
   /ERROR_CODE_Write
   /F_ID
   /F_Read
   /F_Write
   /IO_ID
   /IO_Read
   /IO_Write
   /I_ID
   /I_Read
   /I_Write
   /J_ID
   /J_Read
   /J_Write
   /LOCK_Read
   /LOCK_Write
   /MODE_Read
   /P_ID
   /P_Read
   /P_Write
   /Pro1/START_Write
   /Pro1/STATUS_Read
   /Pro1/STOP_Write
   /Pro2/START_Write
   /Pro2/STATUS_Read
   /Pro2/STOP_Write
   /S_ID
   /S_Read
   /S_Write
   /T_ID
   /T_Read
   /T_Write
   /V_ID
   /V_Read
   /V_Write

   [...]
   

• Read robot speed:

   ros2 topic echo /Arm0/EXTSPEED_Read
   

• Write robot speed:

   ros2 topic pub --once /Arm0/EXTSPEED_Write std_msgs/msg/Float32 "data: 100"
   

• Read robot motor status:

   ros2 topic echo /Arm0/SERVO_ON_Read
   

• Write robot motor ON / OFF:

   ros2 topic pub --once /Arm0/SERVO_ON_Write std_msgs/msg/Bool "data: False"
   

• List of available actions:

   ros2 action list
   

Output will be:

   [...]

   /Arm0_DriveAExString
   /Arm0_DriveAExValue
   /Arm0_DriveExString
   /Arm0_DriveExValue
   /Arm0_MoveString
   /Arm0_MoveValue

   [...]
   

• Move robot to position stored in controller’s variable P[1]:

   ros2 action send_goal /Arm0_MoveString denso_robot_core_interfaces/action/MoveString '{comp: 1, pose: "P1", option: ""}'
   

• Read robot I/O lines (e.g. IO24):

   ros2 topic pub --once /IO_ID std_msgs/msg/Int32 "data: 24"
   ros2 topic echo /IO_Read
   

• Write robot I/O lines (e.g. IO24):

   ros2 topic pub --once /IO_ID std_msgs/msg/Int32 "data: 24"
   ros2 topic pub --once /IO_Write std_msgs/msg/Bool "data: true"
   ros2 topic pub --once /IO_Write std_msgs/msg/Bool "data: false"
   

COBOTTA

To execute CALSET on COBOTTA without TP, set “252: CALSET on start-up” to “1: DoNot”. Then execute AutoCal Command.

cf. COBOTTA USER MANUAL ID:7299

Changelog for package denso_robot_core

1.2.0 (2024-03-18)

• Implemented support for ROS2 Humble
• Avoid Boost C++ Libaries

1.1.1 (2024-02-09)

• Fix links of RC8/RC9 Provider User's Guide
• Add the explanation of COBOTTA AutoCal command
• Remove "under construction" sections from README.md

1.1.0 (2023-03-24)

Initial release