ROS Driver on Fanuc R-J3iB?

Question

Hello,

I would like to test the ROS driver on the Fanuc M6iB robot with an older R-j3iB controller. Some relevant information about the controller:

1. Core software version: Handling Tool 6.4
2. Socket Messaging (SKMG), includes MSG_CONNECT, MSG_DISCO and MSG_PING: Installed
3. PC Interface (PCIF): Installed
4. KAREL (KARL): Installed (not sure about the version, but I can check)
5. ASCII Upload (ASBN): Installed.

Is it possible to tweak the ROS driver and recompile it for R-j3iB? Maybe somebody has tried this already and can help.

Regards, Alex

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Originally posted by karpenko on ROS Answers with karma: 1 on 2021-07-03

Post score: 0

Answer 1

A similar question from (quite) a few years ago would be #q173769. The OP there had a V5.20 system, which turned out to be difficult to simulate, but could have worked after I made some changes. Unfortunately the OP never responded, so it didn't get tested.

I should still have that version somewhere, you could see whether it'll work.

If you could open an issue on ros-industrial/fanuc we can discuss this over there, that'd be easier to track and relate to software changes.

I'll update this answer if/when we get things to work (and also in case we don't).

Socket Messaging (SKMG)

Note: the requirement is actually for User Socket Messaging. There is a similar option (which may be called SKMG on older controllers), but that's not usable for Karel programs. Seeing as you mention MSG_CONNECT(..) et al., you probably have the required option installed, but I wanted to mention it.

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Edit: post on the issue tracker: ros-industrial/fanuc#325.

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Originally posted by gvdhoorn with karma: 86574 on 2021-07-03

This answer was ACCEPTED on the original site

Post score: 0