实现Fanuc CRX机器人在ROS2中的硬件接口与运动规划集成。
ros2 fanuc interface: Design and Evaluation of a Fanuc CRX Hardware Interface in ROS2
- 基于ROS2开发Fanuc CRX机器人硬件接口，支持Moveit2运动规划。
- 实验显示路径跟踪误差极小，能有效实现碰撞避障与动态速度调节。
- 适合工业机器人开发者、自动化研究者，代码开源可复用。
本文介绍了面向Fanuc CRX机器人系列的ROS2控制与硬件接口（HW）集成方案，阐述了基本实现细节和通信协议，并实现了与Moveit2运动规划库的集成。通过一系列实验评估了相关性能表现，测试了四个典型应用场景：阶跃响应、轨迹跟踪、与Moveit2集成的碰撞避障，以及动态速度调节。结果显示，尽管存在指令与反馈之间的非可忽略延迟，但只要遵守关节速度限制，机器人仍能以极小误差精确跟踪预定路径，保障碰撞规避。完整代码开源，可访问 https://github.com/paolofrance/ros2_fanuc_interface 获取。
原文摘要 · Abstract (English)
This paper introduces the ROS2 control and the Hardware Interface (HW) integration for the Fanuc CRX- robot family. It explains basic implementation details and communication protocols, and its integration with the Moveit2 motion planning library. We conducted a series of experiments to evaluate relevant performances in the robotics field. We tested the developed ros2_fanuc_interface for four relevant robotics cases: step response, trajectory tracking, collision avoidance integrated with Moveit2, and dynamic velocity scaling, respectively. Results show that, despite a non-negligible delay between command and feedback, the robot can track the defined path with negligible errors (if it complies with joint velocity limits), ensuring collision avoidance. Full code is open source and available at https://github.com/paolofrance/ros2_fanuc_interface.
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