Git clone this repository in order to download and install all the controllers and planning pipeline code for the following industrial manipulators:

This workspace contains different packages that allow you to describe the configuration of the manipulator, its controller system and other useful things that makes you able to planning optimized trajectories for the manipulator

Package that contains all the controllers that is needed to move and control the motions of the following robots: - Fanuc M-710iC/45M - Fanuc R-2000iC/270F

Package that contains the URDF fie and all the meshes of the Fanuc M-710iC/45M and R-2000iC/270F robot. You can use this package to spawn the robot in Rviz and move the joints with joint state publisher gui.

Package that contains the gazebo world and a launch file to spawn the Fanuc M-710iC/45M and R-2000iC/270F robot in Gazebo.

Package that contains all the files that is needed to move and control the Fanuc M-710iC/45M robot through the Moveit package.

Package that contains all the files that is needed to move and control the Fanuc R-2000iC/270F robot through the Moveit package.

In order to build the overall workspace you can run the following commands through the command line:

rosdep install --from-paths src --ignore-src -r -y --rosdistro melodic
cd ~/your_catkin_ws
catkin_make

Launch simulation in Gazebo:

```roslaunch fanuc_gazebo fanuc_m710ic45m_world.launch```

equivantly

```roslaunch fanuc_gazebo fanuc_r2000ic270f_world.launch```

Launch simulation in Rviz:

```roslaunch fanuc_m710ic45m_moveit moveit_planning_execution.launch```

equivantly

```roslaunch fanuc_m710ic45m_moveit moveit_planning_execution.launch```

• ROS --> Melodic

• Mancus Cristian

• [email protected]