ROS LinuxCNC Link

Hi,

I was thinking a little bit more about your Ros project.

Maybe i can help a little bit more.

My proposal is to set up a Ros environment and a Linuxcnc environment in a Linux distribution for Robot's.

In this distro i would like to embed the Ros environment, the Kdl (kinematic library), the Opencascade (CAD) library, wich is also used by Freecad, with a basic and simple coding example, wich i have to create.

Also i would embed a basic matix calcuation example how to multiply matrixes to do a workpiece xyz (roll,pitch,yaw) offset.
This sounds quite complex, but in fact, it's quite easy when you know what to do.

For universaties and students, this distro would be helpfull worldwide.

Do you work with Mesa or something else ?

Do you have already played around with Ros? I have no clue and never used Ros. So for me it's totally new.

The connection from Ros to Linuxcnc Hal should not be a time consuming operation to get this fixed.
I already have c++ code for this. I can not write python.

Grotius, I think you should devote 3-5 days learning Python by following the Google Python tutorials. I find I don't use it enough so its hard for me but when I do get it, I can write in 100 lines of Python what would take 1000 lines in C.

developers.google.com/edu/python

Video of lesson 1

Thanks Grotius, I am sure that the more people work on this the better the end result will be.

I use Mesa cards but I am also working on Ethercat hardware. I have the hardware but have not tried to set anything up yet.

I did not know much about ROS, well I know a bit more now that I have spent the weekend taking this course, www.udemy.com/course/ros-for-beginners/ , the guy who teaches the course is one of the founders of the Niryo One collaborative robot company. niryo.com/about-us/

I have been studying for the last half of today the Machinekit ROS Hal connection, github.com/machinekoder/hal_ros_control
From what I can tell it is basically two components, one that controls the robots joints in real time and the other that controls I/O in non real time.

ROS is basically a framework with libraries that make creating a working robot very easy. I was very overwhelmed at first but after taking the course I am feeling much better with getting everything to work.

My main concern at the moment is the GUI and robot programming language. If you watch this video of the Tormach robot, It shows what I want to replicate. I would like to use Python as a language for creating robot programs. In the video Daniel brings in a text to speech library into the program and shows how powerful having python as the program can be.

Hi,

I see they wanna buy the ar2 project in the future.
In basics the video shows what we are gonna do.

I am oke with a python interface. Would you like to use Qtvcp for this?

I think they use the opencascade python wrapper already. But better use the c++ lib and i will make the python wrapper.
Then we have a better screen responce, i know something to get a better visual output. and a 3d rotate box.

Is Tormach working open source?
If so we could do a software request.

If they are not open source in some parts. We could protect also certain part's of the software. Otherwise
they will just adapt it to their closed source, like window's has linux code inside the closed source, wich is published
after a windows source code leak.

What kind of ethercat stuff is on the shelf?

@ Rod. I will study your video when i watch tv with my girlfriend. :woohoo:

I have never used Qtvcp, is that what you wrote the Qt-Skynet-App in? That App looks nice and could be the base for the GUI.

I have asked Daniel about if they plan to release the software and he said not in the near future.

If we can get something working, I have a couple of industrial robots I can use to test out the software.

One thing I will need is the ability to control external axises, I have built a track that I plan to use to weld long trusses,

I have six Ethercat closed loop stepper drivers and some I/O modules,