Simulate Fanuc CRX10ia/L using ROS2 Humble and MoveIt2

Clone and Launch Simulation

If you wish to clone and launch the simulation, follow these steps:

1. Create a workspace

mkdir -p ~/fanuc_ws/src
cd ~/fanuc_ws/src

2. Clone the repository

git clone https://github.com/aaqibmahamood/Fanuc-CRX-10iA-L-Collaborative-Robot---Trajectory-using-Moveit2.git

3. Build the workspace

cd ~/fanuc_ws
colcon build

4. Source the workspace

source install/setup.bash

5. Launch the simulation - Start Move Group

ros2 launch crx10ia_l__moveit_config move_group.launch.py

6. In a new terminal, launch RViz

source ~/fanuc_ws/install/setup.bash
ros2 launch crx10ia_l__moveit_config moveit_rviz.launch.py

7. In another terminal, run the trajectory

source ~/fanuc_ws/install/setup.bash
ros2 launch moveit2_scripts test_trajectory.launch.py

FANUC ROS2 Driver Installation

Prerequisites

Before proceeding with the installation, ensure your system meets the following requirements:

1. Update System Packages

sudo apt update && sudo apt upgrade -y

2. Install ROS2 Humble Packages

sudo apt install -y \
ros-humble-desktop \
ros-humble-rviz \
ros-humble-control-msgs \
ros-humble-sensor-msgs

3. Source ROS2 Setup

source /opt/ros/humble/setup.bash

4. Install Dependencies

sudo apt install libmodbus-dev libjsoncpp-dev

Install FANUC ROS2 Driver

1. Extract Driver Files

   • Unzip the installation file (install_humble_jammy.zip) to your Ubuntu PC
   • ⚠️ CAUTION: Do not place in your colcon workspace

2. Set Required Permissions

chmod u+x {driver_location}/fanuc_ros2_driver/lib/f
chmod u+x {driver_location}/_local_setup_util_sh.py

3. Add to ROS Path

   If using packages only under /opt/ros/* without colcon workspace:

source install/local_setup.bash

Table of Contents

• 0. Quick Start
• 1. ROS Setup
• 2. Dependencies
• 3. Workspace Configuration
• 4. MoveIt2 Configuration
• 5. Trajectory Planning
• 6. Simulation

0. Quick Start

Tested on Ubuntu 22.04 LTS with ROS2 Humble.

1. Update System

sudo apt update && sudo apt upgrade -y

2. Install ROS2 Humble Packages

sudo apt install -y \
ros-humble-desktop \
ros-humble-rviz \
ros-humble-control-msgs \
ros-humble-sensor-msgs

3. Source ROS2 Setup

source /opt/ros/humble/setup.bash

1. ROS Setup

Install Core Dependencies

sudo apt install libmodbus-dev libjsoncpp-dev

Install MoveIt2

sudo apt update
sudo apt install -y ros-humble-moveit ros-humble-moveit-resources
sudo apt install -y python3-colcon-common-extensions build-essential

2. Workspace Preparation

Create Workspace

mkdir -p ~/fanuc_ws/src
cd ~/fanuc_ws
colcon build

Add CRX Description Files

# Option 1: Copy local files
cp -r /path/to/crx_description ~/fanuc_ws/src/

# Option 2: Clone Repository
git clone https://github.com/aaqibmahamood/Fanuc-CRX-10iA-L-Collaborative-Robot---Trajectory-using-Moveit2.git
cd fanuc_ws
cd src
cd crx_description

3. MoveIt2 Configuration

Launch MoveIt Setup Assistant

source /opt/ros/humble/setup.bash
ros2 launch moveit_setup_assistant setup_assistant.launch.py

Configuration Steps

1. Load URDF

• Browse and select crx10ia_l.urdf.xacro

2. Self-Collision Matrix

• Generate Collision Matrix

3. Virtual Joints

• Create Joint:
• Name: world_base
• Parent Frame: world
• Child Link: base_link
• Type: fixed

4. Planning Groups

• Group Name: manipulator
• Kinematics Plugin: KDLKinematicsPlugin
• Base Link: base_link
• Tip Link: flange

5. Robot Poses

• Add home pose for manipulator group

MoveIt2 Configuration - Home Robot Pose

home.mp4

6. End Effector

• Name: end_effector
• Group: manipulator
• Parent Link: flange

7. Define Passive Joints
   

8. Generate and Save the MoveIt Package
   

4. Trajectory Planning Package

Create MoveIt2 Scripts Package

cd ~/fanuc_ws/src
ros2 pkg create moveit2_scripts --build-type ament_cmake \
--dependencies rclcpp moveit_ros_planning_interface

Create Trajectory Script

src/test_trajectory.cpp:

#include <rclcpp/rclcpp.hpp>
#include <moveit/move_group_interface/move_group_interface.h>

int main(int argc, char** argv) {
    rclcpp::init(argc, argv);
    auto node = rclcpp::Node::make_shared("test_trajectory");
    
    moveit::planning_interface::MoveGroupInterface move_group(node, "manipulator");

    // Plan to a target pose
    geometry_msgs::msg::Pose target_pose;
    target_pose.orientation.w = 1.0;
    target_pose.position.x = 0.28;
    target_pose.position.y = -0.2;
    target_pose.position.z = 0.5;

    move_group.setPoseTarget(target_pose);
    
    auto success = (move_group.plan() == moveit::planning_interface::MoveItErrorCode::SUCCESS);
    
    if (success) {
        RCLCPP_INFO(node->get_logger(), "Planning successful. Executing...");
        move_group.move();
    } else {
        RCLCPP_WARN(node->get_logger(), "Planning failed.");
    }

    rclcpp::shutdown();
    return 0;
}

Launch File

launch/test_trajectory.launch.py:

from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
    return LaunchDescription([
        Node(
            package='moveit2_scripts',
            executable='test_trajectory',
            output='screen',
        )
    ])

5. Build and Run

Build Workspace

cd ~/fanuc_ws
colcon build --symlink-install
source install/setup.bash

Run Simulation

1. Start Move Group - Terminal 1

ros2 launch crx10ia_l__moveit_config move_group.launch.py

2. Launch RViz - Terminal 2

source ~/fanuc_ws/install/setup.bash
ros2 launch crx10ia_l__moveit_config moveit_rviz.launch.py

Plan a trajectory to the home position.

3. Execute Trajectory - Terminal 3

source ~/fanuc_ws/install/setup.bash
ros2 launch moveit2_scripts test_trajectory.launch.py

6. Video Demonstrations

Trajectory Execution

trajectory.mp4

Troubleshooting

• Ensure ROS2 Humble is correctly installed
• Verify all dependencies are met
• Check URDF and MoveIt configuration files

Contributing

Contributions are welcome! 🤖

Your stars, forks, and PRs are appreciated!