SlaveMode Control for DENSO Robots

The SlaveMode control modality allows to control DENSO robots by sending the whole trajectory of the robotic arm. The trajectory must be generated by an external motion planner (e.g. MoveIt2), and target points must be sent to the robot controller.

NOTE: The minimum required control frequency is 125 Hz (1 target position each 8 ms).

Usage

1.a Connect to a WINCAPS III-simulated Robot (Optional)

When connecting to a real robot, please be sure to complete the steps for WINCAPS III preparation as described here.

1.b Connect to a Real Controller (Optional)

When connecting to a real robot, please be sure to complete the steps for robot preparation as described here.

2. Start ROS2 Nodes

The main launch file that starts the application is in the denso_robot_bringup package.

• COBOTTA robot:

   ros2 launch denso_robot_bringup denso_robot_bringup.launch.py model:=cobotta sim:=false ip_address:=192.168.0.1 send_format:=0 recv_format:=2
   

• NOT COBOTTA robots (e.g. VS-060 robot):

   ros2 launch denso_robot_bringup denso_robot_bringup.launch.py model:=vs060 sim:=false ip_address:=192.168.0.1 send_format:=256 recv_format:=258
   

2.1 Launch File Details

The main launch file that starts the application is in the denso_robot_bringup package:

   ros2 launch denso_robot_bringup denso_robot_bringup.launch.py model:=<robot_model> sim:=false ip_address:=<robot_ip_address> send_format:=<send_format_value> recv_format:=<recv_format_value>
   

The arguments for launch files can be listed using:

   ros2 launch denso_robot_bringup denso_robot_bringup.launch.py --show-args
   

The most relevant arguments are the following:

• model (mandatory) - the model of the DENSO robot (COBOTTA, VS-060, etc.). In the original DENSO ROS2 stack 2 robot models are already available ( “cobotta” , “vs060”). To use other robot types, see the ROS2Converter page (under construction) for creating the URDF model and the associated MoveIt2 configuration package
• ip_address (mandatory) - IP address of the robot
• sim (default: true) - whether the robot is simulated (Gazebo simulator) or an RC8 controller is connected (either WINCAPS III-simulated or real controller)
• send_format (default: 288) - parameter to write Hand I/O, Mini I/O or User I/O signals (not considered if sim:=true). When Connecting to a COBOTTA robot assign value “0” (no IO configuration)
• recv_format (default: 292) - parameter to read Hand I/O, Mini I/O or User I/O signals (not considered if sim:=true). When Connecting to a COBOTTA robot assign value “2” (no IO configuration)
• bcap_slave_control_cycle_msec (default: 8.0) - DENSO robot control cycle [ms] (not considered if sim:=true)

DENSO ROS2 stack (simulation)

2.2 Send Format Parameter

The send_format parameter can be used for write Hand I/O, Mini I/O or User I/O. Following table shows the details of the send_format parameter.

2.3 Receive Format Parameter

The recv_format parameter can be used for write Hand I/O, Mini I/O or User I/O. Following table shows the details of the recv_format parameter.

3. Read and Write I/O Lines (Optional)

When setting the send_format and recv_format parameters, proper subscribers and publishers are launched.

File truncated at 100 lines see the full file

Changelog for package denso_robot_control

1.2.0 (2024-03-18)

• Implemented support for ROS2 Humble
• Avoid Boost C++ Libaries

1.1.1 (2024-02-09)

• Remove "under construction" sections from README.md

1.1.0 (2023-03-24)

Initial release