WIP: Add support for R-2000iB 165f #52
Conversation
fanuc_r2000ib_support/launch/robot_interface_downloading_r2000ib165f.launch
Outdated
Show resolved
Hide resolved
fanuc_r2000ib_support/launch/robot_interface_downloading_r2000ib165f.launch
Outdated
Show resolved
Hide resolved
fanuc_r2000ib_support/launch/robot_interface_downloading_r2000ib165f.launch
Outdated
Show resolved
Hide resolved
fanuc_r2000ib_support/launch/robot_interface_downloading_r2000ib165f.launch
Outdated
Show resolved
Hide resolved
| </link> | ||
| <link name="${prefix}link_3"> | ||
| <!-- The manual and also the model files show this link in the 90deg position (ie right angle) --> | ||
| <!-- However, the coordinate system treats the straight configuration as 0deg and the limits as asymmetric --> |
There was a problem hiding this comment.
Could you explain this comment a little more?
There was a problem hiding this comment.
No ... I rather remove it as this (and the mitsubishi launch files) were copied from a not so well matching template
There was a problem hiding this comment.
Perhaps you could compare/use the fanuc_r2000ic_support package I pushed to my fork?
| <!-- note that the data sheet claims an lower limit of -132 but that is not reachable due to | ||
| collisions with the base --> | ||
| <limit lower="${radians(-90)}" upper="${radians(230)}" effort="0" velocity="${radians(110)}" /> |
There was a problem hiding this comment.
Please use the specced joint limit.
Collision avoidance should deal with potential collisions, and inverted mountings may actually make use of the actual joint limits without colliding.
There was a problem hiding this comment.
Just curious: What would be inverted in that case?
There was a problem hiding this comment.
Up-side-down mounting of the entire robot.
Robots can also be placed on pedestals, which lets them reach "under themselves".
Edit: for this particular series you'd need a special variant, but in general we just use the joint limits as given in the manual or datasheet.
fanuc_r2000ib_support/package.xml
Outdated
| </p> | ||
| </description> | ||
| <author email="[email protected]">Simon Schmeisser (isys vision)</author> | ||
| <maintainer email="[email protected]">Simon Schmeisser (isys vision)</maintainer> |
There was a problem hiding this comment.
I would be ok with it, but are you going to maintain this? Otherwise, please don't list your name here.
There was a problem hiding this comment.
I think we should discuss increasing load-balancing, bus-factor and community involvement at some point and as such I would be willing to (co-)maintain some of those packages. However now it was just an oversight and I put the field back to its default value ;)
|
The meshes are slightly off in a few places and somehow the visual mesh sticks out of the convex hull used for the collision meshes in a few places so I'll put this into draft mode and redo the meshes :( |
Is it possible to change a PR back to draft mode? I thought it was a one-way thing: draft -> PR. |
|
Didn't find anything, seems to be a missing feature |
@simonschmeisser: did you have any time to look at the meshes? |
|
Friendly ping. |
|
And another one. |
|
I'm sorry but I won't be able to look at this for at least this week |
|
Ok. Then we'll keep it open for now. |
gavanderhoorn
changed the title
|
Related: #57. |
|
After we merge #57 we could merge the |
|
@simonschmeisser: would you have an opportunity to look at this PR again? |
here is your PR @gavanderhoorn
It adds support for Fanuc Robot R-2000iB 165f