The industrial robot client nodes are responsible for sending robot position/trajectory data from ROS MoveIt! to the industrial robot controller. The industrial robot client converts the trajectory data to simple_message
and communicates to the robot controller using the simple_message
protocol. The industrial robot controller running a server and industrial robot client nodes are connecting to this server and start communicating with this server.
The industrial_robot_client
package contains various classes to implement industrial robot client nodes. The main functionalities that a client should have include updating the robot current state from the robot controller, and also sending joint position messages to the controller. There are two main nodes that are responsible for getting the robot state and sending joint position values: