About | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange

melodic noetic   Show EOL distros: 

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_states (control_msgs/FollowJointTrajectoryFeedback)

• 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_joint_state (double[], default: [0, ..., 0])

• Initial state of all (revolute) joints. Units: rad.

motion_update_rate (double, default: 100.0)

• Internal update rate of the motion interpolator. If 0, node will not interpolate between trajectory points. Units: Hz.

pub_rate (double, default: 10.0)

• Publish rate for state publisher(s). Units: Hz.

Reporting bugs

Use GitHub to report bugs or submit feature requests. [View active issues]