MITSUBISHI ELECTRIC INDUSTRIAL ROBOT MELFA ROS2 DRIVER

1. Overview

MELFA ROS2 Driver, co-developed with ROS-Industrial Consortium Asia Pacific, provides a suite of tools to enable the creation of advance solutions using our industry proven platform. Mitsubishi Electric provides a ROS2 driver, ROS2 GPIO controllers, robot description files and moveit_config packages for each robot; optimized in-house by our developers to ensure high performance.

Introducing the next generation of intelligent robots, incorporating advanced solutions technology and “e-F@ctory”, technologies and concepts developed and proven using Mitsubishi Electric’s own production facilities that go beyond basic robotic performance to find ways of reducing the TCO in everything from planning and design through to operation and maintenance. </br>

• Learn more
• Robot catalog

</br>

2. MELFA ROS2 Driver Feature

MELFA ROS2 Driver consists of six main components: melfa_bringup, melfa_description, melfa_driver, melfa_io_controllers, melfa_msgs, various moveit_config packages.

melfa_bringup

• provides launch files for robot bringup

melfa_description

• contains robot descriptions
• ros2_controllers

melfa_driver

• supports ros2_control.
• provides real time communication¹ hardware interface with our CR800/860-R/Q/D robot controllers via rtexc api ² from our MELFA ethernet SDK.
• connects to the robot controller via rtexc api to control the robot via MELFA BASIC VI³ MXT⁴ command. The robot position command, robot state & I/O data are transmitted through this connection.
• includes quality of life features built into rtexc api such as user configurable disconnection detection and debugging tools.

melfa_io_controllers

• supports ros2_control.
• user configurable io controllers.
• provides ROS2 controllers for GPIO control

melfa_msgs

• provides ROS2 msgs for MELFA robots

melfa_robot-model_moveit_config

• provides example MoveIt config and launch files for MELFA robots
• supports OMPL, Pilz Industrial Planner, CHOMP and Moveit servo.
• optimized by our developers to ensure high performance in speed and accuracy.

Contributing Guidelines

Thank you for your interest in contributing to melfa_ros2_driver. Whether it’s a bug report, new feature, correction, or additional documentation, we greatly value feedback and contributions from our community.

Please read through this document before submitting any issues or pull requests to ensure we have all the necessary information to effectively respond to your bug report or contribution.

Reporting Bugs/Feature Requests

We welcome you to use the GitHub issue tracker to report bugs or suggest features.

When filing an issue, please check [existing open][issues], or [recently closed][closed-issues], issues to make sure somebody else hasn’t already reported the issue. Please try to include as much information as you can. Details like these are incredibly useful:

• A reproducible test case or series of steps
• The version of our code being used
• Any modifications you’ve made relevant to the bug
• Anything unusual about your environment or deployment

Contributing via Pull Requests

Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:

1. You are working against the latest source on the humble branch.
2. You check existing open, and recently merged, pull requests to make sure someone else hasn’t addressed the problem already.
3. You open an issue to discuss any significant work - we would hate for your time to be wasted.

To send us a pull request, please:

1. Fork the repository.
2. Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
3. Ensure local tests pass.
4. Commit to your fork using clear commit messages.
5. Send a pull request, answering any default questions in the pull request interface.
6. Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.

GitHub provides additional documentation on forking a repository and creating a pull request.

Licensing

Any contribution that you make to this repository will be under the Apache License, Version 2.0, as dictated by that license.