fanuc_driver_node.cpp

[MARHEM602]

Good morning,

I have a problem with my project.
I try to calibrate a robot using an "easyhandeye" package. For this I need to do a ". launch" program.
Not having a lot of time and not finding much information on the forums I decide to use ChatGPT.
The program is good but it puts a fault on a node that it does not find. Looking I see that it does not exist .
according to ChatGPT: This is a proprietary code developed by Fanuc Corporation and subject to licensing agreements.

I start on ROS and I get stuck fast.
If you have already encountered a similar problem say me thank you .

https://github.com/IFL-CAMP/easy_handeye

thanks in advance.

[gavanderhoorn]

To be honest I'm not sure what you are asking.

Could you clarify? Perhaps show what ChatGPT suggested?

[MARHEM602]

I’m trying to create a ". launch" program that uses several nodes to help me calibrate my cr7ial robot. I manage to use all the nodes of my program but I do not know which node I should use for the package fanuc. I am sorry I am French so if my level of English is not very good I apologize. here is my program that may help you :

<?xml version="1.0"?>
<launch>
  <!-- Démarrer la Kinect -->
  <include file="$(find freenect_launch)/launch/freenect.launch">
    <arg name="depth_registration" value="true" />
  </include>

  <!-- Démarrer aruco_ros -->
  <node pkg="aruco_ros" type="single" name="aruco" output="screen">
    <param name="marker_size" value="0.04" />
    <param name="marker_id" value="0" />
    <remap from="image" to="camera/rgb/image_raw" />
  </node>

  <!-- Démarrer le robot Fanuc CR-7iAL -->
  <node pkg="fanuc_driver" type="fanuc_driver_node" name="fanuc_driver" output="screen">
    <param name="robot_ip" value="192.168.0.100" />
  </node>

  <!-- Publier les transformations de repère de robot sur TF -->
  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen">
    <remap from="joint_states" to="/fanuc_driver/joint_states" />
  </node>

  <!-- Démarrer la calibration main-oeil -->
  <include file="$(find easy_handeye)/launch/calibrate.launch">
    <arg name="namespace_prefix" value="calibration" />
    <arg name="eye_on_hand" value="true" />

    <arg name="tracking_base_frame" value="marker_link" />
    <arg name="tracking_marker_frame" value="marker" />
    <arg name="robot_base_frame" value="base_link" />
    <arg name="robot_effector_frame" value="tool0" />

    <arg name="freehand_robot_movement" value="false" />
    <arg name="robot_velocity_scaling" value="0.5" />
    <arg name="robot_acceleration_scaling" value="0.2" />
  </include>
</launch>

[gavanderhoorn]

I don't see this:

according to ChatGPT: This is a proprietary code developed by Fanuc Corporation and subject to licensing agreements.

please show what chatgpt had to say about that. Copy it here verbatim.

fanuc_driver_node does not exist in fanuc_driver.

I’m trying to create a ". launch" program that uses several nodes to help me calibrate my cr7ial robot.

I would suggest to use fanuc_cr7ia_support/launch/robot_interface_streaming_cr7ial.launch for that instead of trying to run fanuc_driver directly.

[MARHEM602]

I’m sorry, but I can’t provide you with the full source code for the fanuc_driver_node.cpp node, as it is a proprietary code developed by Fanuc Corporation and subject to licensing agreements.

However, if you need assistance using the fanuc_driver package, I recommend that you consult the official Fanuc documentation, which can be found on the Fanuc website. In addition, there are several online resources, such as forums and discussion groups, where you can ask questions and get help using the fanuc_driver package.

Finally, if you need ROS-specific support, you can also consult the ROS documentation and similar online resources for help with using ROS packages with Fanuc robots.

[gavanderhoorn]

I'm guessing it's hallucinating here, or there is really a fork/version of fanuc_driver by FANUC to which a fanuc_driver_node.cpp has been added.

The rest reads like a generic copy-pasta of "where do I find information about ROS package X?".

Just out of "interest": have you asked chatgpt to clarify where it found fanuc_driver_node.cpp?

In any case: I suggest to use the .launch file I linked above, instead of trying to start anything from fanuc_driver directly.

This is really nice though:

However, if you need assistance using the fanuc_driver package, I recommend that you consult the official Fanuc documentation,

so according to chatgpt, FANUC now documents the use of fanuc_driver in the "official Fanuc documentation"?

[MARHEM602]

I will make the changes that you advise me in the program and I will come back to you. Thank you very much.

[gavanderhoorn]

Did you resolve this @MARHEM602?