Realtime servoing

[kneetate]

I would like to do real-time servoing like this↓
https://ros-planning.github.io/moveit_tutorials/doc/realtime_servo/realtime_servo_tutorial.html
or this↓
https://github.com/ros-planning/moveit/tree/master/moveit_ros/moveit_servo
But it seems to there is no compatible controller in ros-industrial. Then I ask you how should I real-time servoing on fanuc robot.
I think two ways to solve this problems.

1. Publish trajectory_msgs/JointTrajectory to /joint_path_command
2. Create custom ros_controller

[gavanderhoorn]

Regardless of the ROS interface you'd use, this will not work satisfactorily.

The motion interface fanuc_driver (or fanuc_driver_exp) uses will not result in smooth motion.

If you really want to use a Fanuc robot for this, I'd suggest to investigate two software options:

• R912, or Remote Motion Interface
• J519, or Stream Motion

The former isn't really suited for servoing, but can be somewhat used for it.

The latter will most likely not be available to you -- unless you are in the US (I'm not aware of the situation in Japan).

---

Edit: R739 (Dyn Path Modifier) could also potentially be used, but I've only heard people struggle with it when trying to use it for whole-work-envelope robot control.

See gavanderhoorn/fanuc_dpm_mouse_demo for some early work with that option.

[jeremy-dahan-fairmat]

@kneetate did you implement ros_driver using the RMI option ? My team was considering doing the same.

[kneetate]

@jeremy-dahan-fairmat
Yes, we did.
However, the system is more complicated than using fanuc_driver and causes more trouble.
We recommend to use fanuc_driver if you don't have any special reasons.

[jeremy-dahan-fairmat]

Thank you very much for sharing your experience.
Would you be willing to elaborate on this ? What kind of issues did you encounter ? Was the performance similar to fanuc_driver / fanuc_driver_exp ?
This is very valuable information for my team, thank you again !

[kneetate]

What kind of issues did you encounter?
Was the performance similar to fanuc_driver /fanuc_driver_exp ?

To use RMI, users send and receive strings via tcp sockets to control the robot. After sending a command, it is necessary to wait for a response to that command. Therefore, it is not possible to obtain sufficient motion speed and control period for such usage as real time visual servo (try it and you'll see). RMI is not suitable for applications that require short movements with short control period, I thought. Conversely, it may work well when tracking a long path.

Maybe my program is bad, so you should try to implement it first.
By the way, what is your intended use of the program?

[jeremy-dahan-fairmat]

Thank you very much for this information ! We had tried using RMI, but did not test its limits.
Unfortunately, I am not allowed to disclose our applications, but we are closer to pick and place than real time trajectory tracking.