|
|
|
## Overview
|
|
|
|
|
|
|
|
Mitsubishi_controller package provides an actionlib (joint trajectory action) interface to the CRnD-700 mitshubishi controller via tcp/ip connection.
|
|
|
|
Mitsubishi_controller package provides an actionlib (joint trajectory action) interface to the CRnD-700 mitshubishi controller.
|
|
|
|
A tcp/ip communication protocol is used. This controller can be directly integrated with an MoveIt! environment.
|
|
|
|
|
|
|
|
## Settings
|
|
|
|
Communication is based on tcp/ip protocol which requires a local network. The computer IP address can be arbitrary but controller IP address have to be set to a specific-static value, which is set in the controller parameters as well as in the ros-node, designed for the communication on the PC side. The gateway is set to 192.168.0.1 in our network.
|
|
|
|
Communication is based on tcp/ip protocol which requires a local network. The computer IP address can be arbitrary but controller IP address have to be set to a specific-static value, which is set in the controller parameters as well as in the ros-node, designed for the communication on the PC side. The chosen controller IP address is 192.168.0.20 in our case and the gateway is set to 192.168.0.1 in our network. These addresses may depend on local network settings and can be adjusted in provided controller interface.
|
|
|
|
|
|
|
|
# Controller settings
|
|
|
|
The following parameters need to be set:
|
|
|
|
The following parameters need to be set in the controller:
|
|
|
|
|
|
|
|
| Name | Value |
|
|
|
|
| -------- | -------- |
|
| ... | ... | |
