miuav industrial-integration SKILL — 工业机械臂 ROS2 集成指南
核心规则
- 工业机械臂需要 explicit enable：上电后必须发送 enable 指令才能运动
- E-Stop 必须监听：安全回路断开心须立即停止所有运动
- 速度缩放：首次测试用
max_velocity_scaling_factor ≤ 0.1 - Modbus 寄存器映射：IO 状态通过寄存器读写获取
知识库
KUKA RSI 接口
# RSI XML 指令示例（通过 UDP Socket 发送）
<Sen Struct="Esor">
<AK A1="0.0" A2="0.0" ... A7="0.0"/>
<IPOC>123456789</IPOC>
</Sen>
# 接收机器人状态
<Rob struct="埃Or">
<A1 A2 ... A7/>
<IPOC>123456790</IPOC>
</Rob>
ros2_controllers 配置
joint_trajectory_controller:
type: joint_trajectory_controller/JointTrajectoryController
joints:
- joint_a1
- joint_a2
- joint_a3
- joint_a4
- joint_a5
- joint_a6
- joint_a7
Modbus TCP IO
from pyModbusTCP.client import ModbusClient
client = ModbusClient(host='192.168.1.10', port=502)
# 读取数字输入 DI[0]
di0 = client.read_discrete_inputs(0, 1)
# 写数字输出 DO[0]
client.write_single_coil(0, True)
快速启动
bash scripts/generators/ros2-package-generator.sh kuka_iiwa_control cpp
# 编写 RSI 接口节点
bash scripts/ros2-build-verify-loop.sh kuka_iiwa_control