Getting ROS-I to work on Racer(COMAU Robot) with C5G Open

[Peng Wang]

Hello,

  I have a abb robot irb120 work fine with ros-I. But now we're going to use a new robot, which is named as Racer from COMAU Robot.

  I have google the COMAU and find Racer's controller is C5G, which can see here C5G.

  And when I google C5G with ROS, I get a website like this: ROS C5G Open, which says C4G/C5G Open is  A non real-time ROS interface for a real-time controller.

 But now the problem is I don't know how to let ROS-I work with C5G Open, and whether it is like abb with the open source code or tutorials like this http://wiki.ros.org/abb/Tutorials

 Does anyone have use the COMAU robot or just have some ideas for this? Glad for your post, thank you very much!

[Shaun Edwards]

Peng,

The research presented at the ROS-I community meeting was eventually published here: http://link.springer.com/chapter/10.1007/978-3-319-11900-7_21

However, I do not believe that the software was ever open sourced.  I'm not aware of any other Comau driver implementations.

Shaun

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[Peng Wang]

Shaun,

  Thank you very much for your reply. This is the first reply I've ever got on the google group. Really thank you!

  I have already read the paper you sent a few days ago. And through the paper, I find the github project at https://github.com/iaslab-unipd/c4g_controller

  Although it is for C4G controller, I think the writer, someone in IAS-lab, did mean to publish the software open souced.

  However, maybe some things happend, which lead to the truth that there even are not any code on the github page.

  I really want to know why and whether they going to publish the software again.

 Do you have any idea about this, or do you ever get in touch with the IAS-lab?

 

 At now, I'd like to write an email to the email address on the github page to get the answer about this. Any good idea for this? Thank you again!

 

在 2015年6月28日星期日 UTC+8下午10:53:07，Shaun Edwards写道：

[Shaun Edwards]

Peng,

I did talk to someone at IAS-lab.  It's been a while now.  It was always their intention to open source the code, but for some reason it just didn't happen.  It really is quite a shame since the C4G controller seemed very promising.  

I would encourage you to reach out to them.

Shaun

[Peng Wang]

Shaun,

Thank you very much for your reply and your encouragement.

I've sent an email to the email address researc...@gmail.com just now.

Waiting for their reply.

Thank you very much!

Peng

在 2015年6月28日星期日 UTC+8下午11:19:50，Shaun Edwards写道：

[G.A. vd. Hoorn - 3ME]

On 28-6-2015 17:30, Peng Wang wrote:
> Shaun,
>

> Thank you very much for your reply and your encouragement.
> I've sent an email to the email address researc...@gmail.com just now.
> Waiting for their reply.
> Thank you very much!

Please keep us in the loop, I'm rather interested to know what happened
myself.


Thanks,

Gijs

>>>>> <http://www.comau.com/DlDownload/C5G%20Brochure/Comau_Control_Units_ENG.pdf>
>>>>> .

>>>>> And when I google C5G with ROS, I get a website like this: ROS C5G
>>>>> Open

>>>>> <http://www.ros.org/news/2014/04/second-ros-industrial-community-forum-on-april-28th-at-5cet-accepting-lightning-talks.html>,

>>>>> which says C4G/C5G Open is A non real-time ROS interface for a
>>>>> real-time controller.
>>>>>
>>>>>
>>>>> But now the problem is I don't know how to let ROS-I work with C5G
>>>>> Open, and whether it is like abb with the open source code or tutorials
>>>>> like this http://wiki.ros.org/abb/Tutorials
>>>>>
>>>>> Does anyone have use the COMAU robot or just have some ideas for this?
>>>>> Glad for your post, thank you very much!
>>>>>
>>>>> --
>>>>> You received this message because you are subscribed to the Google
>>>>> Groups "swri-ros-pkg-dev" group.
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>>>> To unsubscribe from this group and stop receiving emails from it, send
>>>>> an email to swri-ros-pkg-d...@googlegroups.com.
>>>>
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>>>>>
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>>> "swri-ros-pkg-dev" group.
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>>> email to swri-ros-pkg-d...@googlegroups.com<javascript:>.

[Peng Wang]

OK Gijs, when I get any reply, I will post it here.

在 2015年6月28日星期日 UTC+8下午11:31:44，gavanderhoorn写道：

[G.A. vd. Hoorn - 3ME]

On 29-6-2015 6:41, Peng Wang wrote:
> OK Gijs, when I get any reply, I will post it here.

Good evening,


just curious: did you ever get a response to your email?


Gijs

[轻舞飞扬]

Gijs, 

 I'm so sorry to tell you that although I send emails to the IAS-LAB and the authors of the paper  ROS-I Interface for COMAU Robots，I've got none reply so far.

Since I'm busy finishing another project, sorry to reply so late.

Peng

------------------ 原始邮件 ------------------

发件人: "G.A. vd. Hoorn - 3ME";<g.a.van...@tudelft.nl>;

发送时间: 2015年7月16日(星期四) 凌晨4:05

收件人: "swri-ros-pkg-dev"<swri-ros...@googlegroups.com>;

主题: Re: [ROS-Industrial] Getting ROS-I to work on Racer(COMAU Robot) withC5G Open

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[G.A. vd. Hoorn - 3ME]

On 16-7-2015 16:26, 轻舞飞扬 wrote:
> Gijs,
> I'm so sorry to tell you that although I send emails to the IAS-LAB and the authors of the paper ROS-I Interface for COMAU Robots，I've got none reply so far.
> Since I'm busy finishing another project, sorry to reply so late.

No problem. I was just curious.


Thanks for the reply.