ROS-Industrial is an open-source project that extends the advanced capabilities of the Robot Operating System (ROS) software to new industrial applications.
The project modelled a large collection of industrial manipulators using the ROS standard URDF format. Here we can directly import these robot models into the cuiksuite. The sequence of commands to execute to obtain the .world files is the following:
- bin/cuikurdf2world examples/ROSIndustrial/abb abb_common/urdf/irb_2400.urdf examples/ROSIndustrial/abb_irb_2400.world
- bin/cuikurdf2world examples/ROSIndustrial/abb abb_common/urdf/irb_5400.urdf examples/ROSIndustrial/abb_irb_5400.world
- bin/cuikurdf2world examples/ROSIndustrial/abb abb_common/urdf/irb_6640.urdf examples/ROSIndustrial/abb_irb_6640.world
- bin/cuikurdf2world examples/ROSIndustrial/fanuc fanuc_lrmate200ic_support/urdf/lrmate200ic.urdf examples/ROSIndustrial/fanuc_lrmate200ic.world
- bin/cuikurdf2world examples/ROSIndustrial/fanuc fanuc_lrmate200ic_support/urdf/lrmate200ic5h.urdf examples/ROSIndustrial/fanuc_lrmate200ic5h.world
- bin/cuikurdf2world examples/ROSIndustrial/fanuc fanuc_lrmate200id_support/urdf/lrmate200id.urdf examples/ROSIndustrial/fanuc_lrmate200id.world
- bin/cuikurdf2world examples/ROSIndustrial/fanuc fanuc_m10ia_support/urdf/m10ia.urdf examples/ROSIndustrial/fanuc_m10ia.world
- bin/cuikurdf2world examples/ROSIndustrial/fanuc fanuc_m16ib_support/urdf/m16ib20.urdf examples/ROSIndustrial/fanuc_m16ib20.world
- bin/cuikurdf2world examples/ROSIndustrial/fanuc fanuc_m20ia_support/urdf/m20ia.urdf examples/ROSIndustrial/fanuc_m20ia.world
- bin/cuikurdf2world examples/ROSIndustrial/fanuc fanuc_m20ia_support/urdf/m20ia10l.urdf examples/ROSIndustrial/fanuc_m20ia10l.world
- bin/cuikurdf2world examples/ROSIndustrial/fanuc fanuc_m430ia_support/urdf/m430ia2f.urdf examples/ROSIndustrial/fanuc_m430ia2f.world
- bin/cuikurdf2world examples/ROSIndustrial/fanuc fanuc_m430ia_support/urdf/m430ia2p.urdf examples/ROSIndustrial/fanuc_m430ia2p.world
- bin/cuikurdf2world examples/ROSIndustrial/motoman motoman_mh5_support/urdf/mh5.urdf examples/ROSIndustrial/motoman_mh5.world
- bin/cuikurdf2world examples/ROSIndustrial/motoman motoman_sia10d_support/urdf/sia10d.urdf examples/ROSIndustrial/motoman_sia10d.world
- bin/cuikurdf2world examples/ROSIndustrial/motoman motoman_sia20d_support/urdf/sia20d.urdf examples/ROSIndustrial/motoman_sia20d.world
- bin/cuikurdf2world examples/ROSIndustrial/motoman motoman_sia5d_support/urdf/sia5d.urdf examples/ROSIndustrial/motoman_sia5d.world
- bin/cuikurdf2world examples/ROSIndustrial/staubli staubli_rx160_support/urdf/rx160.urdf examples/ROSIndustrial/staubli_rx160.world
The generated world files can be manipulted as usual.
Note that the world files alone do not define a path planning problem. For this, you have to define the objects in the environment, the object to manipulate and the start and goal configurations.
These are some of the robots imported in using the above commands:
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| The ABB 2400 | The ABB 5400 | The ABB 6640
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| The Fanuc LRMate 200 | The Fanuc M10 | The Fanuc M16
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| The Fanuc M20 | The Fanuc M430 | The Motoman MH5
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| The Motoman SIA5D | The Motoman SIA20D | The Staubli RX160
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This folder includes several files to show the possible use of the imported models
- The fanuc_IK.world is an example of how to solve inverse kinematic problems with discrete solution sets with the CuikSuite.
- The motoman_IK.world is an example of how to solve inverse kinematic problems with one-dimensional solution sets the CuikSuite.
- The abb_planning.world Is a simple planning problem with an ABB 6640 robot that has to insert a bar into a hole.
- In the abb_staubli_planning.world ABB 6640 and a Staubli RX160 robots cooperate
Note that we can change the robots or even combine different robots in the same problem and solve the corresponding problems without modifying or adding anything in the CuikSuite algorithms.
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