new robot moveit package - challenges? - NACHI robot

[fabian-ppm]

Hi,

I would like to develop a new moveit package for a NACHI robot and at the moment I am trying to figure out what kind of technology requirements (software, hardware) I have to fulfill in order to be able to do so.

I looked at this tutorial http://docs.ros.org/indigo/api/moveit_setup_assistant/html/doc/tutorial.html but I dont really understand why they do the whole tutorial for the PR2 asking for PR2-specific files (pr2.urdf.xacro)

What kind of challenges will I face? Is there controller specific software I have to develop? What kind of functionality will I have when I follow this (or this http://wiki.ros.org/Industrial/Tutorials/Create_a_MoveIt_Pkg_for_an_Industrial_Robot) tutorial?

My goal is to work with a Nachi MZ 07 and the Nachi CFD controller (or MR20 with FD controller)

Thank you 

[Shawn Schaerer]

Hi Fabian,

Does the Nachi robot have a ROS driver already or are you starting from scratch?

To do a new robot I used ROS Control boilerplate and wrote code around that.

[fabian-ppm]

No, there is no ROS driver for Nachi robots (as far as I know). What is your experience with the workaround? Is there good documentation how to do it?

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

On 16-3-2016 14:47, 'fabian-ppm' via MoveIt! Users wrote:
> No, there is no ROS driver for Nachi robots (as far as I know). What is
> your experience with the workaround? Is there good documentation how to do
> it?

Fabian,


what Shawn refers to is not really a 'work-around': it essentially still
requires you to create some kind of interface with your controller. The
difference is that the 'ros control boilerplate' already does a lot of
the work for you, leaving only a small bit of controller specific code
for you to implement.

After you have this done, then you can create MoveIt configuration
packages in the same way as for any robot.

The ROS-Industrial community over at [1] might be able to assist you in
getting the driver part working. It would probably be a good idea to
send them a message.


Gijs

[1] https://groups.google.com/forum/#!forum/swri-ros-pkg-dev

> Am Mittwoch, 16. März 2016 14:40:37 UTC+1 schrieb Shawn Schaerer:
>>
>> Hi Fabian,
>>
>> Does the Nachi robot have a ROS driver already or are you starting from
>> scratch?
>> To do a new robot I used ROS Control boilerplate and wrote code around
>> that.
>>
>>
>>
>> On Wednesday, March 16, 2016 at 8:37:13 AM UTC-5, fabian-ppm wrote:
>>>
>>> Hi,
>>> I would like to develop a new moveit package for a NACHI robot and at the
>>> moment I am trying to figure out what kind of technology requirements
>>> (software, hardware) I have to fulfill in order to be able to do so.
>>> I looked at this tutorial
>>> http://docs.ros.org/indigo/api/moveit_setup_assistant/html/doc/tutorial.html
>>> but I dont really understand why they do the whole tutorial for the PR2

>>> asking for PR2-specific files (*pr2.urdf.xacro)*

[Shawn Schaerer]

There is not a lot of good documentation.  There is a lot of code and some tutorials.

Having gone through it, there is a very large ramp up and learning curve but after that its straight forward.

[fabian-ppm]

ok thaks a lot. This sounds promising. I will start working on it after easter holiday, so keep in touch.