Industrial/Industrial_Robot_Driver_Spec_draft_630

Contents

ROS Interface
Robot/Client Behavior

This page provides a detailed description of how different robot platforms comply with the Industrial Robot Driver specification. It is intended for developers and systems integrators needing to evaluate specific functional capabilities. More general compatibility information can be found here.

ROS Interface

Section	Type	Name	Robots
Section	Type	Name	Motoman dx100	Adept CX/CS

1.3.1	param	`robot_ip_address`	N¹	N²
1.3.2	pub topic	`feedback_states`	Y³	Y³
1.3.2	pub topic	`joint_states`	Y³	Y³
1.3.3	sub topic	`joint_path_command`	Y⁴	Y⁴

Uses command-line argument instead.
Hardcoded in source code.
Simple Message only supports actual position feedback.
Performs fixed-speed motion set on robot controller. Ignores ROS velocities/timestamps.

Robot/Client Behavior

Section	Condition	Expected Behavior	Robots
Section	Condition	Expected Behavior	Motoman dx100	Adept CX/CS

1.2.1	ROS node launched	auto-connect to robot	Y	Y
1.2.1	robot power-on	ROS comms software auto-runs	Y	N
1.2.2	comms loss	ROS node tries repeated reconnects to robot	Y	N
1.2.2	comms loss	ROS node stops publishing position messages	Y	Y
1.2.2	comms loss	robot stops motion and turns off drive power	N	?
1.2.2	comms loss	robot waits for new connection	Y	N
1.2.2	general	topics/services should not be published/advertised if unsupported	Y	Y
1.3.3	trajectory overflow	trajectory ignored and error logged	Y	Y
1.3.3	trajectory received	robot automatically starts motion	Y	Y
1.3.3	trajectory completed	motion stops, drive power stays on	Y	?
1.3.3	trajectory interrupted	cancel current motion, begin new trajectory	?	N