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ROS Moveit interface?
#1
Hi,

Does RoboDK have a ROS interface available?

We would like to control a UR10 robot via its moveit package from RoboDK, and currently we run a client on the UR10 as a script ; the script processes the commands and their operands sent by sockets from RoboDK. I initially wanted to create a ROS node on the control computer which replicates this interface with RoboDK (socket via localhost) and translates it to Moveit, however some commands do not really fit in the Moveit's move_group interface, I find. Here are the commands:
  MSG_MOVEJ = 4
  MSG_MOVEL = 5
  MSG_MOVEC = 6
  MSG_SETTOOL = 9
  MSG_CJNT = 10
  MSG_MOVEL_SEARCH = 11
  MSG_MOVEJ_POSE = 13
  MSG_MOVEL_POSE = 14
  MSG_MOVEP = 15
  MSG_MOVEP_POSE = 16
  MSG_MOVEC_POSE = 17
  MSG_POPUP = 20
  MSG_PAUSE = 21
  MSG_RUNPROG = 22
  MSG_SETDO = 23
  MSG_WAITDI = 24
  MSG_ROUNDING = 25
  MSG_SETAO = 26
  MSG_GETDI = 27
  MSG_GETAI = 28 
  MSG_START_EXTERNAL = 129

Given the complexity of this interface, I wanted to know if by any chance the interface already existed, and if not - since we would be glad to share our work once it's done -, it would be nice to get a bit of a jump-start.

Thanks in advance and be safe,
gmarchet
#2
Hi,

The communication interface between RoboDK and UR already exists. You'll find a driver that works for UR robots (called apiur). More information here:
https://robodk.com/doc/en/Robots-Univers...l#DriverUR

Drivers in RoboDK are equivalent to ROS MoveIt.

Albert
#3
hello,

I was wondering if there is any tutorial on programming 2d cameras in UR robots, I've seen the example and I didn't understand, can you help me?
  




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