FANUC ROS 2 Driver Documentation

 

Overview

Welcome to the FANUC ros2_control driver, which supports high-frequency motion and cyclic I/O control as well as asynchronous command support of the FANUC robot controller.

The FANUC ros2_control driver is built using the Robot Operating System (ROS) 2, an open-source framework, and libraries designed for building robot applications. The following documentation provides information on how to use ros2_control driver in conjunction with FANUC Robots.

The following R-30iB Plus robot models are currently supported with more models and R-50iA being supported soon:

• CRX-5iA

• CRX-10iA

• CRX-10iA/L

• CRX-20iA/L

• CRX-30iA

Table Of Contents

• Quick Start
  • System Requirements
  • 1. Install Dependencies
  • 2. Install FANUC software packages
  • 3. Launching URDF Visualization
  • 4. Create Moveit Config
  • 5. Launching with Mock Hardware
  • 6. Launching with Physical Hardware
  • Obtain Support
• fanuc_description
  • Overview
  • Extending a Robot Model
• fanuc_driver
  • Overview
  • FANUC Unboxing
  • Controller Usage
  • Customizing Controllers and Broadcasters
  • Create Your Own MoveIt Config
• Troubleshooting
  • Common Issues