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## Overview
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## Overview
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Mitsubishi_controller package provides an actionlib (joint trajectory action) interface to the CRnD-700 mitshubishi controller via tcp/ip connection.
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## Settings
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## Settings
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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.
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# Controller settings
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The following parameters need to be set:
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|Name|Value|
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|-------|------|
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|NETIP|192.168.0.20|
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|NETPORT|10001 10002 ... 10009|
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|NETGW|192.168.0.1|
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# PC settings |
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