frcobot_ros2

PickNik fork

This fork carries PickNik changes to fairino_hardware for use with MoveIt Pro:

• Controller software V3.9.8 or newer is required. The bundled fairino SDK is libfairino 2.3.8, which matches V3.9.8. Older controller software is not supported.
• libfairino 2.3.8 is bundled for both x86_64 and aarch64; CMake selects the build for the target architecture.
• ServoJ streaming is bracketed by ServoMoveStart()/ServoMoveEnd() and uses cmdT = 0.0016 s, so the controller_manager update_rate must be 625 Hz.
• The driver halts the ServoJ stream after sustained rejections (error-14 storm guard).
• Joints may export an optional velocity state interface.

Upstream

This is the ROS2 API project of Fairino robot(sofeware version must greater than V3.7.1), a serial of functions which based on Fair SDK API but were simplified are created, user can call them through service message. API_description.md list all API functions. Tutorial of installing and uasage of ROS2 API, please refer to the Fair document platform:https://fair-documentation.readthedocs.io/en/latest/ROSGuide/index.html#frcobot-ros2.

Version histroy: 2023.7.18 V1.0