RV-4frl-ROS

Connecting and Operating the RV-4FRL from Rviz.

Get the melfa ros2 driver from https://github.com/Mitsubishi-Electric-Asia/melfa_ros2_driver.git

Create a new ros workspace create a src folder put the melfa ros2 driver in ur src.
Colcon build ur workspace and source.

This workspace have content for various type of mitsubushi ARMs, we are going to use for RV-4FRL.
(u can clear out the workspce from other for ease of reading)

Connecting ur robot to ROS

Connect ur robot to ur linux system with lan cable and setup the IPV4 manually, we are gonna use this IP from now on.
TO set click on the settings loggo>IPV4,
Keep the gateway and mask same as ur robot.

Robot IP

U can get the robot ip gateway and mask from the teach pendant "param" option.

For ip use "NETIP"
For gateway "NETGW"
For mask "NETMSK"

Robot Code

Setup the program in Teach Pendant, change the IP address to ur linux system IP.

Servo On
Open "ENET: 192.168.0.100" As #1 'Insert your Linux Machine IP address in this line. Open stores the IP address into variable 1.
Mxt 1,1,10 'The first 1 refers to the IP address from the line above. 
           'The second 1 configures Mxt to expect Joint commands. 
           'The 10 refers to a 10ms low pass filter.
End 

Code Run TEACH

Switch to Auto Mode, go to RUN>OPERATION select ur programm, turn servo ON and hit "START".

(Use the function key to toggle "START" and "SV.ON")

Launch ur ROS file

For our RV-4frl we are gonna launch

ros2 launch melfa_bringup rv4frl_control.launch.py use_fake_hardware:=false controller_type:=D robot_ip:=192.168.137.30 packet_lost_log:=0

Change the robot IP from Robot IP
This will connect the Robot to the system.

Then launch

ros2 launch melfa_rv4frl_moveit_config rv4frl_moveit.launch.py

This is to launch the Move-it to control the arm, it have interactive markers or joint command option.

NOW WE ARE ALL SET TO OPERATE THE ARM FROM RVIZ.