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This page provides a detailed description of how different robot platforms comply with the Industrial Robot Driver specification. It is intended for developers and systems integrators needing to evaluate specific functional capabilities. More general compatibility information can be found here.

ROS Interface

Section

Type

Name

Robots

Motoman
dx100

Adept
CX/CS

1.3.1

param

robot_ip_address

N1

N2

1.3.2

pub topic

feedback_states

Y3

Y3

1.3.2

pub topic

joint_states

Y3

Y3

1.3.3

sub topic

joint_path_command

Y4

Y4

  1. Uses command-line argument instead.
  2. Hardcoded in source code.
  3. Simple Message only supports actual position feedback.

  4. Performs fixed-speed motion set on robot controller. Ignores ROS velocities/timestamps.

Robot/Client Behavior

Section

Condition

Expected Behavior

Robots

Motoman
dx100

Adept
CX/CS

1.2.1

ROS node launched

auto-connect to robot

Y

Y

1.2.1

robot power-on

ROS comms software auto-runs

Y

N

1.2.2

comms loss

ROS node tries repeated reconnects to robot

Y

N

1.2.2

comms loss

ROS node stops publishing position messages

Y

Y

1.2.2

comms loss

robot stops motion and turns off drive power

N

?

1.2.2

comms loss

robot waits for new connection

Y

N

1.2.2

general

topics/services should not be published/advertised if unsupported

Y

Y

1.3.3

trajectory overflow

trajectory ignored and error logged

Y

Y

1.3.3

trajectory received

robot automatically starts motion

Y

Y

1.3.3

trajectory completed

motion stops, drive power stays on

Y

?

1.3.3

trajectory interrupted

cancel current motion, begin new trajectory

?

N


2018-12-08 12:20