Package Summary

ROS-Industrial support for the Fanuc R-2000iC (and variants).

This package contains configuration data, 3D models and launch files for Fanuc R-2000iC manipulators. This includes the /125L, /165F, /210F and /270F variants.

Note: for use with current ROS packages, the /210F is identical to the /165F and reuses the meshes, kinematic structure and the OPW parameters of the /165. Only the joint limits are different.

Specifications:

• R-2000iC/125L - "Conventional dress-out"
• R-2000iC/165F - "Conventional dress-out"
• R-2000iC/210F - "Conventional dress-out"
• R-2000iC/270F - "Conventional dress-out"

Joint limits and maximum joint velocities are based on the information in the FANUC Robot R-2000iC Mechanical Unit Operator's Manual version B-83644EN/01. All urdfs are based on the default motion and joint velocity limits, unless noted otherwise (ie: no support for high speed joints, extended / limited motion ranges or other options).

Before using any of the configuration files and / or meshes included in this package, be sure to check they are correct for the particular robot model and configuration you intend to use them with.

Contributors:

This support package has received contributions from: Timo Birnkraut and Simon Schmeisser (125L), Didier Quirin (210F) and Haris Suwignyo (Alten Nederland) (270F).

• Maintainer status: developed
• Maintainer: G.A. vd. Hoorn (TU Delft Robotics Institute) <g.a.vanderhoorn AT tudelft DOT nl>
• Author: G.A. vd. Hoorn (TU Delft Robotics Institute)
• License: BSD
• Bug / feature tracker: https://github.com/ros-industrial/fanuc_experimental/issues
• Source: git https://github.com/ros-industrial/fanuc_experimental.git (branch: kinetic-devel)