End-effector Motor I/O

This package contains the code needed to setup and run the motor attached to the end-effector of the FANUC Scan-N-Plan demo at SwRI

This package utilizes tf2_ros and tf2_geometry_msgs to get tool position data. The tool position data is obtained from ROS2 via ROS bridge to set the arduino motor control signal I/O pin.

There are two nodes. One node obtains tool position data and publishes a boolean topic indicating whether the motor should be turn on or off. The second node runs via rosserial and subscribes to the boolean topic and sets I/O pin accordingly.

Install/Setup

Download and install Arduino IDE from here

After installing the Arduino IDE, follow these instructions

Clone this repository to your ROS1 workspace source folder:

git clone https://github.com/Yolnan/fanuc_demo_motor_io.git

If necessary, install ROS package dependencies:

rosdep install --rosdistro noetic --ignore-src --from-paths .

The ee_motor_io.yaml contains the following parameters:

• target_frame_name for lookupTransform
• source_frame_name for lookupTransform
• trigger_height to turn motor on/off in meters

Build Package

source /opt/ros/noetic/setup.bash
catkin build ee_motor_io

Running System

source /opt/ros/noetic/setup.bash
roslaunch ee_motor_io ee_motor_io.launch