Quick Start

This repository hosts the source code of the FANUC ROS 2 Driver project, a ros2_control high-bandwidth streaming driver. This project will allow you to develop a ROS 2 application to control a FANUC virtual or real robot.

Note

This guide assumes basic familiarity with ROS 2, Ubuntu, and FANUC hardware.

System Requirements

• Operating System: Ubuntu 22.04 LTS (optionally with real-time PREEMPT_RT kernel installed)

• ROS 2 Distribution: Humble Hawksbill

• FANUC Robot Controller: R-30iB Mini Plus with J519 Stream Motion and R912 Remote Motion.

• FANUC Robot: CRX series

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1. Install Dependencies

Set up the ROS 2 Environment

Follow the official ROS 2 Installation Guide for the Desktop Install of ROS 2 Humble.

Configure the ROS 2 Environment

We recommend performing the following tasks in the ROS 2 Configuring Environment:

• Add sourcing to your shell startup script

• The ROS_LOCALHOST_ONLY variable

2. Install FANUC software packages

Choose one of the following installation methods:

1. Source Build of FANUC Packages

2. Debian Install of FANUC Packages

Method 1: Source Build of FANUC Packages

echo "Installing and configuring git-lfs"
sudo apt install git-lfs
git lfs install

echo "Checking out GitHub repositories"
mkdir ~/ws_fanuc/src -p
cd ~/ws_fanuc/src
git clone https://github.com/FANUC-CORPORATION/fanuc_description.git
git clone --recurse-submodules https://github.com/FANUC-CORPORATION/fanuc_driver.git

echo "Installing FANUC dependencies"
cd ~/ws_fanuc
sudo apt update
rosdep update
rosdep install --ignore-src --from-paths src -y

echo "Building FANUC libraries"
colcon build --symlink-install --cmake-args -DBUILD_TESTING=1 -DBUILD_EXAMPLES=1

Method 2: Debian Install of FANUC Packages

Debian packages will be provided at a future date.

3. Launching URDF Visualization

The view_crx launch file visualizes a URDF model in RViz and provides slider bars to visualize a specific joint state.

source /opt/ros/humble/setup.bash
source ~/ws_fanuc/install/setup.bash
ros2 launch fanuc_crx_description view_crx.launch.py robot_model:=crx10ia

4. Launching with Mock Hardware

The fanuc_moveit launch file starts ROS processes to control a URDF model using ros2_control and MoveIt2.

source /opt/ros/humble/setup.bash
source ~/ws_fanuc/install/setup.bash
ros2 launch fanuc_moveit_config fanuc_moveit.launch.py robot_model:=crx10ia use_mock:=true

RViz will launch with a visualization of the CRX-10iA.

Drag the 3-D arrows to set a goal pose for the robot. Then click Plan & Execute to simulate the robot planning and executing a trajectory to the goal.

Dynamically scaling trajectory execution

The fanuc_moveit launch file configures a Scaled Joint Trajectory Controller (SJTC), which enables us to slow down and pause trajectories while they are executed.

Set the trajectory speed scaling factor to 10% by Slider Publisher value. Drag the IMarker to a new location and click Plan & Execute. The robot will move slowly to the goal. Now, set the speed scaling factor to 0% and see it pause its motion. Set it back to 100% and the robot will complete the remainder of the trajectory at its nominal speed.

5. Launching with Physical Hardware

Now we will use the same SJTC on the physical hardware. We will use the same fanuc_moveit launch file, but provide a different set of arguments that will use the physical hardware interface instead of mock hardware.

Robot Controller Setup

Requires software version V9.40P/77 or later with J519 Stream Motion and R912 Remote Motion.

Confirm that the required robot controller software is installed

1. Display FULL MENUS.

2. Select STATUS.

3. Select Version ID.

   

4. Select CONFIG.

   

   Note

   Software options are listed in alphabetical order.

5. Cursor until you find Stream Motion J519 and Remote Motion R912.

6. If you cannot find Stream Motion J519 and Remote Motion R912, contact FANUC to obtain the software option.

Establish Payload Settings

Accurately setting your robot’s payload is important. Changing payload requires the client to execute the following steps:

1. Bring the robot to a stop.

2. Deactivate the hardware interface.

3. Change the payload.

4. Reactivate the hardware interface.

5. Resume your application.

Driver Network Configuration

The ROS 2 Control Driver requires a network connection to the robot, which can be either port 1 or port 2. It is recommended that the ROS 2 network be on a port that is isolated from all other Ethernet communications.

First, we will set IP addresses for each of the Ethernet connections.

If your computer has two network interfaces (one to connect to the Internet and another to connect to robot controller) each needs a different connection profile. To set these up, click the arrow at the upper right corner of the screen, and then click Settings > Network.

Unplug the Ethernet cable between the computer and your network infrastructure. One of the two wired interfaces will now show up as “Cable unplugged.” Click the gear icon next to that wired adapter.

• Under the Identity tab, give this profile a name (like “Internet”).

• Click Apply to accept the default values for the other settings.

• Plug the Ethernet cable back in.

Now, click the gear icon next to the other network adapter.

• Under the Identity tab, assign a name to the connection profile, such as “Robot”.

• Under the IPv4 tab, select Manual as the IPv4 Method.

• Enter 192.168.1.101 for the Address, and 255.255.255.0 for the Netmask.

• Click Apply.

Robot Network Configuration

After defining your port, you now need to configure that port using the Host Communication screen.

Launching CRX-10iA with Driver

source /opt/ros/humble/setup.bash
source ~/ws_fanuc/install/setup.bash
ros2 launch fanuc_moveit_config fanuc_moveit.launch.py robot_model:=crx10ia robot_ip:="192.168.1.100"

You can command motion using the same IMarker workflow used earlier.

Note

See Controller Usage to learn more about the available controllers.

Setting I/O Values

To monitor I/O status from pendant follow these instructions on the pendant.

Then the following window will show all the I/O types and their current status.

Now change a bool I/O via the ROS 2 CLI:

ros2 service call /fanuc_gpio_controller/set_bool_io fanuc_msgs/srv/SetBoolIO "{io_type: {type: 'DO'}, index: 1, value: true}"

The pendant will now show the I/O Status as ON:

Note

See Controller Customization to learn more about monitoring and setting I/O via ros2_control and the command line.

Obtain Support

Contact your local FANUC sales representative. To expedite your request, please provide information such as robot model, configuration, and application, so we can determine how best to support your request.