This is an implementation of the ROS-Industrial Simple Message protocol in Fanuc Karel. Intended mainly for use with the ROS nodes in fanuc_driver, it can be used stand-alone as well (to implement a custom RPC protocol for instance, see also genfrkl).
This library includes support for the PING, GET_VERSION, JOINT_POSITION,
JOINT_TRAJ_PT, STATUS, JOINT_TRAJ_PT_FULL and JOINT_FEEDBACK message
structures. Note that not all message libraries implement both serialisation
and deserialisation routines: depending on the way the messages are typically
used (ie: sent or received by the controller) only one direction may be
supported.
As Karel imposes severe restrictions on identifier name length (12 characters
max), message libraries and type (.klt) and routine prototype (.klh)
header names include the message's assigned identifiers only (and in
hexadecimal).
As an example, the assigned identifier for JOINT_TRAJ_PT_FULL is 14, or
E in hexadecimal. The main message structure is then sm000E_t, with related
routines prefixed with sm000E_ and files also following this convention
(libsm000E.kl, etc). Refer to REP-I0004 for the list of currently
assigned message identifiers.
This package is a rossum package and is ideally build with that. Package
build dependencies are listed in the package manifest. Usage without rossum
or ktransw is feasible, but not recommended.
See rossum also for more information on how to build a rossum workspace.
To use the individual message libraries just include the relevant headers (both type and routine prototype). Then call the declared routines with the appropriate arguments.