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ROS Industrial

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Uploaded on Jan 6, 2012

The ROS-Industrial Repository is now available at: http://code.google.com/p/swri-ros-pkg/

This video is the first implementation of an industrial robot under ROS-Industrial control. The SIA10D robot from Yaskawa Motoman is receiving position commands and providing position feedback over Ethernet from a PC running ROS. The ROS planning environment (visualized in Rviz) captures the physical geometry of the robot cell by combing several data sources including CAD models, simplified representations, and sensor data (not shown). ROS path planning software generates collision free robot paths within the planning environment. The results of the path planning are shown in the visualization and are executed directly on robot hardware. The complex, collision free, path-planning capability is in part enabled by redundancy and configuration of the SIA robot. This is just the first of new capabilities enabled by ROS-Industrial. By leveraging even more complex ROS abilities, like dynamic pick and place functions, many new and previously impossible applications will be realized.

ROS-Industrial is a BSD-licensed ROS stack that contains libraries, tools and drivers for industrial hardware. The goals of ROS-Industrial are to:
· Create a community supported by industrial robotics researchers and professionals
· Provide a one-stop location for industry-related ROS applications
· Develop robust and reliable software that meets the needs of industrial applications
· Combine the relative strengths of ROS with existing industrial technologies (i.e. combining ROS high-level functionality with the low-level reliability and safety of industrial robot controllers).
· Create standard interfaces to stimulate "hardware-agnostic" software development (using standardized ROS messages)
· Provide an easy path to apply cutting-edge research in industrial applications, using a common ROS architecture
· Provide simple, easy-to-use, well-documented APIs

For more information, installation instructions, tutorials, and source code, check out: http://code.google.com/p/swri-ros-pkg/

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