seam_ros2_pkg

SEAM welding cell — FANUC CRX-10iA + ROBO WH-PP W500 torch.

• Simulation: Gazebo Harmonic + OAK-D (eye-in-hand) + MoveIt2 (ROS 2 Jazzy)
• Physical: Stream Motion via fanuc_hardware_interface + RealSense D435 + MoveIt2

Dependencies

• fanuc_description (fanuc_crx_description)
• fanuc_driver (fanuc_hardware_interface)
• realsense2_camera / realsense2_description
• MoveIt2; for sim also ros-jazzy-ros-gz-sim, ros-jazzy-gz-ros2-control

Simulation

cd ~/arms_ws && source install/setup.bash
ros2 launch seam_ros2_pkg crx_gz_sim.launch.py

MoveIt RViz: planning group manipulator → Plan & Execute.

Physical (site)

Controller needs J519 Stream Motion + R912 Remote Motion (or S636), AUTO mode, TP OFF.

# optional: source config/fanuc_real.env.example (copy to a local .env first)
export FANUC_ROBOT_IP=192.168.1.100

# Driver + MoveIt (mock dry-run: use_mock:=true)
ros2 launch seam_ros2_pkg crx_real_d435.launch.py robot_ip:=$FANUC_ROBOT_IP

# Camera (publish_tf:=false — URDF owns TF)
ros2 launch realsense2_camera rs_launch.py \
  publish_tf:=false align_depth.enable:=true \
  pointcloud.enable:=true pointcloud.ordered_pc:=true

# arm_api2
ros2 launch arm_api2 moveit2_iface.launch.py \
  mode:=advanced robot_name:=crx10ia config_profile:=real launch_joy:=false

Or use the GUI setup wizard: FANUC + RealSense D435 + welding torch + real.

Smoke check after stack is up:

ros2 run seam_ros2_pkg smoke_fanuc_real.sh
# or: bash src/seam_ros2_pkg/scripts/smoke_fanuc_real.sh

Hand-eye (D435 on J6)

1. Start calibration from the GUI (effector frame J6_link, optical camera_color_optical_frame).
2. Save YAML, then bake mount:

python3 -m hand_eye_calibration.realsense_mount_cli \
  --update-xacro src/seam_ros2_pkg/urdf/include/fanuc_realsense_d435_handeye_macros.xacro \
  --joint-name fanuc_j6_realsense_d435_mount
colcon build --packages-select seam_ros2_pkg --symlink-install
# restart stack

GPIO / weld I/O

Edit config/weld_gpio_config.yaml with real DO/DI indices from the pendant before commanding weld outputs from ROS.

Robot model

Mode	URDF
Sim	urdf/crx10ia_gz.urdf.xacro
Real	urdf/crx10ia_real.urdf.xacro

EE link: welding_tcp. Planning group: manipulator.