<> <> <> == NOTICE == This package should be replaced by newer [[denso_robot_ros]] package which is made and maintained by the robot vendor (DENSO) officially. 'denso' package remains for reference but may not be released in next ROS distro. == Robots using denso package == ||'''Maker's web site''' ||'''Image of robots''' ||'''ROS package (if any)''' || ||[[http://www.denso-wave.com/ja/robot/product/five-six/vs050-060.html|VS-060]] ||[[http://www.denso-wave.com/ja/robot/product/five-six/vs050-060.html|{{attachment:vs060_denso_bySugaSan_irex2013.jpg|VS-060 taken at iREX2013 by @ysuga|height="175"}}]] ||[[vs060]] || == Install == On your `Ubuntu` machine where `ROS` [[hydro]] is installed: {{{ $ sudo apt-get install ros-hydro-denso }}} This command will have the following packages at minimum installed: * From `denso` package suite: [[denso_controller]], [[denso_launch]], [[denso]], [[vs060]], [[vs060_moveit_config]] * [[open_controllers_interface]] === During experimental phase === It's recommended while this package is still in the experimental status that you install the latest binary from `shadow-fixed` repository. If you're unsure what it is, do the following: ##BEGIN_SET_SHADOWFIXED 1. Open /etc/apt/sources.list.d/ros-latest.list. If it doesn't exist, create one. 1. Comment out any entries taht contain packages.ros.org 1. Add these lines: {{{ # Shadow-fixed deb http://packages.ros.org/ros-shadow-fixed/ubuntu precise main deb-src http://packages.ros.org/ros-shadow-fixed/ubuntu precise main }}} 1. Run on terminal: {{{ $ sudo apt-get update $ sudo apt-get dist-upgrade }}} 1. Remove above portion of entries once `apt-get` finishes. Again, do NOT forget to roll back `apt`'s source list by number 5 above. `shadow-fixed` is a testing bed and binaries stored are not yet officially released. ##END_SET_SHADOWFIXED Latest version is, as of 12/11/2013, `0.2.5`, or if you're doubtful about it (yes we can easily forget to update the wiki), check it out [[http://www.ros.org/debbuild/hydro.html?q=denso|at build status page]]. == Running robots == [[denso_launch]] package wiki page shows how to run robots virtually. <> == Software Design, Writing Programs == === Module Relations === ##begin_swcomponent_denso_vs060 [[https://docs.google.com/drawings/d/1-AcMxG_kE2yUP-11OwdutZuTR2hOF0DUjF5nnitHhNs/pub?w=909&h=634|{{https://docs.google.com/drawings/d/1-AcMxG_kE2yUP-11OwdutZuTR2hOF0DUjF5nnitHhNs/pub?w=909&h=634}}]] . Fig. (click to magnify) Software components diagram for DENSO robot. ##end_swcomponent_denso_vs060 === How to write programs === See [[open_industrial_ros_controllers/Tutorials|tutorial page]] in [[open_industrial_ros_controllers]] package. === Software architecture thoughts === As of today `denso` is built on top of [[open_industrial_ros_controllers]], yet another controller package in `ROS` (in addition to [[industrial]], [[ros_control]], [[hrpsys]] to name a few) for a number of reasons. This should be considered temporary and is planned to change. Please see [[open_industrial_ros_controllers#Relationship_to_existing_contoller_components|a summary here]] for a bit more detail. == Community == * Ask on [[http://answers.ros.org/|answers]] with appropriate tags eg. `denso`, `vs060`. * If you're confident enough that the issue you're seeing is a bug, opening a ticket on the issue tracker on github (should be noted at the top of this page) is very appreciated. == Future plan == * Core controller refactoring as mentioned above. == Reference == Okada et.al (2013), "Design and Development of Open Source Contoller for Industrial Robots", 14th System Integration Division Annual Conference, Kobe, Japan (in Japanese) ## AUTOGENERATED DON'T DELETE ## CategoryPackage