ROS LinuxCNC Link

@ Hi Bari,

The problem with ROS is bass ackwards way they decided to add real-ish time synchronization that is not fine enough to control milling machines.
This comment i don't understand. What is exactly going wrong in ROS?

ROS for the control of the spacing between the mills
Do you need any collision detection logic between the mills ?

Project status:
Today i coded a hard part.

Now it can do a jog with stepsize.

1. It perform's a s-curve calculation for the path of the stepsize distance, for example a cartestion move x+500mm.
- We need s-curve acc-dcc to get nice machine moves.
2. Then with the info of the s-curve path it perform's a inverse kinematics.
3. When the ik has finished, we have the joint values for every 1ms.
4. Then the linux-buffer can perform the realtime move.
5. The machine movements are calculated before any move, i call this mode, "stream" mode.

@Bari
Is this in (old) ROS or already in ROS2?
As I understand realtime support was anounced for ROS2 but I have no idea if that has even been released yet.

I've only looked at ROS2.

@Grotius

Collision detection is easy. It's collision avoidance I'd like.

The real problem is with robot makers. They don't want you inside their controller or robot. ROS doesn't talk to motor drivers and encoders directly so you are limited by what you can do with them when the controller decides to give or take info on velocity and/or position.

Their solution is micro-ros. Which is still quite young.

They also have a demo for xenomai I believe but that's more of a proof of concept.

Bari wrote: @Grotius

Collision detection is easy. It's collision avoidance I'd like.

The real problem is with robot makers. They don't want you inside their controller or robot. ROS doesn't talk to motor drivers and encoders directly so you are limited by what you can do with them when the controller decides to give or take info on velocity and/or position.

This isnt quite accurate. While ros itself is a framework for programmers to build on, there are ros-microcontroller bridges to get you the realtime motor control you design. It's left for you to implement yourself.

And ros got its start in the AGV space so it's quite understandable they didn't bother quite as much with the realtime motor control and the high level simulation is more of an issue.

It's true though that industrial manufacturers don't want you to mess with their proprietary stuff. They want that sweet sweet maintenance bucks.

There was a connection with machinekit but it's abandoned now so.