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Package Summary
The industrial robot simulator is a stand in for industrial robot driver node(s). It adheres to the driver specification for industrial robot controllers.
- Author: Shaun Edwards
- License: BSD
- Source: svn https://swri-ros-pkg.googlecode.com/svn/branches/groovy/industrial_core
Package Summary
The industrial robot simulator is a stand in for industrial robot driver node(s). It adheres to the driver specification for industrial robot controllers.
- Maintainer status: maintained
- Maintainer: Shaun Edwards <sedwards AT swri DOT org>
- Author: Shaun Edwards
- License: BSD
- Source: git https://github.com/ros-industrial/industrial_core.git (branch: hydro)
Package Summary
The industrial robot simulator is a stand in for industrial robot driver node(s). It adheres to the driver specification for industrial robot controllers.
- Maintainer status: maintained
- Maintainer: Shaun Edwards <sedwards AT swri DOT org>
- Author: Shaun Edwards
- License: BSD
- Source: git https://github.com/ros-industrial/industrial_core.git (branch: indigo)
Package Summary
The industrial robot simulator is a stand in for industrial robot driver node(s). It adheres to the driver specification for industrial robot controllers.
- Maintainer status: maintained
- Maintainer: Shaun Edwards <sedwards AT swri DOT org>
- Author: Shaun Edwards
- License: BSD
- Source: git https://github.com/ros-industrial/industrial_core.git (branch: jade)
Package Summary
The industrial robot simulator is a stand in for industrial robot driver node(s). It adheres to the driver specification for industrial robot controllers.
- Maintainer status: maintained
- Maintainer: Shaun Edwards <shaun.edwards AT gmail DOT com>
- Author: Shaun Edwards
- License: BSD
- Source: git https://github.com/ros-industrial/industrial_core.git (branch: kinetic)
Package Summary
The industrial robot simulator is a stand in for industrial robot driver node(s). It adheres to the driver specification for industrial robot controllers.
- Maintainer status: maintained
- Maintainer: G.A. vd. Hoorn (TU Delft Robotics Institute) <g.a.vanderhoorn AT tudelft DOT nl>, Levi Armstrong (Southwest Research Institute) <levi.armstrong AT swri DOT org>
- Author: Shaun Edwards
- License: BSD
- Source: git https://github.com/ros-industrial/industrial_core.git (branch: melodic)
Package Summary
The industrial robot simulator is a stand in for industrial robot driver node(s). It adheres to the driver specification for industrial robot controllers.
- Maintainer status: maintained
- Maintainer: G.A. vd. Hoorn (TU Delft Robotics Institute) <g.a.vanderhoorn AT tudelft DOT nl>, Levi Armstrong (Southwest Research Institute) <levi.armstrong AT swri DOT org>
- Author: Shaun Edwards
- License: BSD
- Source: git https://github.com/ros-industrial/industrial_core.git (branch: melodic)
Contents
Overview
This package simulates an industrial robot controller that adheres to the ROS-Industrial driver specification. Currently the simulator only supports the minimum requirements. The purpose of this node is to provide a simulated robot controller for development. This simulator publishes standard topics that can be fed into Rviz to create a realistic visualization of an actual robot cell. Note that the simulation is at the ROS API level, the node does not accept Simple Message TCP/UDP connections.
Usage
The industrial robot simulator package contains a convenience launch file for bringing up typical low level nodes (sometimes called bringup scripts). These nodes include the simulator and a controlling action server. In typical applications the action server receives trajectories from a higher level planner (not included in this launch file).
Standalone execution is through roslaunch:
roslaunch industrial_robot_simulator robot_interface_simulator.launch
Node API
industrial_robot_simulator
Simulates an industrial robot controller as defined in ROS-Industrial.Subscribed Topics
joint_path_command (trajectory_msgs/JointTrajectory)- Commanded joint trajectories.
Published Topics
joint_states (sensor_msgs/JointState)- Joint State for each non-fixed joint in the robot.
- Feedback information (errors) for each non-fixed joint state.
Parameters
controller_joint_names (str[], default: ['joint_1', ..., 'joint_6'])- Joint controller names (for more info see here).
- Initial state of all (revolute) joints. Units: rad.
- Internal update rate of the motion interpolator. If 0, node will not interpolate between trajectory points. Units: Hz.
- Publish rate for state publisher(s). Units: Hz.
Contact us/Technical support
For questions about this package or ROS-Industrial in general, please contact the developers by posting a message in the ROS-Industrial category on ROS Discourse.
Reporting bugs
Use GitHub to report bugs or submit feature requests. [View active issues]
