conveyor_ros_driver

ROS driver for Belcon Mini III series DMH conveyor of Okura Yusoki.

Dependency

• A PC compatible with the ROS version
  • Ubuntu 18.04 with ROS Melodic
  • Ubuntu 20.04 with ROS Noetic
  • takuya-ki/conveyor_modbus
  • Byobu

Installation

cd catkin_ws/src && git clone https://github.com/takuya-ki/conveyor_ros_driver.git --depth 1 && sudo apt install byobu && cd .. && catkin build  

Usage

Operations with two computers

1. Execute a control server on a Windows computer (refer to conveyor_modbus)

python src/commands.py --command_from external --ip 169.0.0.1

2. Start a command server on the Ubuntu computer

roscore

rosrun conveyor conveyor_driver.py _/conveyor/ip:=169.0.0.1

rosservice call /conveyor/set_command "<refer to below>"  

Available commands

• nl: normal rotation with low speed
• nm: normal rotation with middle speed
• nh: normal rotation with high speed
• rl: reverse rotation with low speed
• rm: reverse rotation with middle speed
• rh: reverse rotation with high speed
• nXX (rYY): drive with a set of rotation and speed [Hz/100] values
• stop: stop the motion
• complete: finish the program

Author / Contributor

Takuya Kiyokawa

License

This software is released under the MIT License, see LICENSE.