Make sure your controller has a correctly configured and working network setup. In all cases, the following software options should be present on your robot in addition to basic networking and TCP/IP support: a Windows PC or VM (as Roboguide does not run on Linux).a method of transferring the necessary files to the controller (USB stick, a network connection)įor a source installation, additional requirements are:Ī copy of the fanuc_driver package, version 0.2 or newer.
The same configuration procedure is used for both installation types.įor a binary install, the following is needed:Ī compatible binary distribution of the KAREL and TP binaries 1
KAREL SOFTWARE INSTALL
A source install is more complicated, as it necessitates the creation of a Roboguide workcell, and the compilation of several source files.
KAREL SOFTWARE DRIVER
This may be the case if the target controller runs an incompatible version of the KAREL runtime, if it cannot support access to KAREL Vars or if there is a requirement to use customised driver code. If it is not possible to use the provided binaries, a source install is the only option. After choosing a compatible version, only a small number of files have to be copied to the controller. In general, a binary install is recommended, as it is much faster and less involved (note: there are currently no KAREL binaries available for the Indigo version of the driver, thus a source install is always necessary for that version). There are two options for installation: from source or using a set of precompiled binaries. Due to the lower resolution of legacy pendants, many key sequences need either an additional NEXT inserted, or (sub)menus should be opened using TYPE. For users with older (legacy) pendants, this may mean that key sequences given in the text, screenshots and menus will not match completely. For help on installing ROS-Industrial in general, please see the ROS-Industrial installation pages.įinally: this tutorial assumes the use of an iPendant. Note that these tutorials only cover the installation and setup of those programs of the fanuc_driver package that are supposed to run on the controller. For a binary install, the copy destination is the virtual controller instead of the real one. For a source install, the only difference is in the Copying the Binaries step: Roboguide automatically loads the binaries onto the virtual robot controller as part of the build process, so no additional action is needed. After installation, the programs and controller will need to be configured, which will be described in the next tutorial (see the Next section).Īll of the steps outlined in this tutorial can be used for setting up a real controller as well as a simulated one in Roboguide. This tutorial guides you through all the steps necessary to install the ROS-Industrial programs onto a Fanuc Robotics controller.
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