Velocity interpolation and small changes

.gitignore

@@ -0,0 +1 @@
+staubli_val3_driver/val3/ros_server/.outlining.json

README.md

@@ -9,13 +9,13 @@
 ## Overview
 
 This repository contains the `staubli_val3_driver` package which provides a set of VAL3 libraries and an application which together implement a [simple_message][] compatible server implementation.
-Together with the nodes in [industrial_robot_client][], this server can be used as a ROS 1 driver that allows motion control of Staubli CS8 controlled robots, by exposing a [FollowJointTrajectory][] [action][] server, which is compatible with MoveIt and other nodes that implement an action client.
+Together with the nodes in [industrial_robot_client][], this server can be used as a ROS 1 driver that allows motion control of Staubli CS8/CS8C controlled robots, by exposing a [FollowJointTrajectory][] [action][] server, which is compatible with MoveIt and other nodes that implement an action client.
 
 
 ## Compatibility
 
-The current version of the driver is compatible with CS8 controllers only.
-Future work may extend this to support CS9 controllers as well.
+The current version of the driver is compatible with CS8/CS8C controllers only.
+Future work is planned to extend this to support CS9 controllers as well.
 
 
 

staubli_val3_driver/README.md

@@ -2,20 +2,19 @@
 
 ## Overview
 
-This ROS-I driver was developed in Staubli's VAL3 language for use with 6-axis Staubli robot manipulators.
+This ROS-I driver was developed in Staubli's VAL 3 language for use with 6-axis Staubli robot manipulators.
 
-It is advisable to try this driver on Staubli's emulator first.
+It is advisable to try this driver on the emulator in [Staubli Robotics Suite (SRS)](https://www.staubli.com/en-us/robotics/product-range/robot-software/pc-robot-programming-srs/) first.
 
 
 ## Requirements
 
 * Staubli 6-axis robot manipulator
-* Staubli CS8 controller
-  * it may work with other controllers, but this driver was tested on CS8 only
+* Staubli CS8/CS8C controller
 * VAL3 version s7.7.2 or greater
   * this is very important, since this implementation uses return values of `sioGet()`
     only available from s7.7.2 onwards
-
+* Staubli Robotics Suite 2019 (not required but strongly recommended)
 
 ## Installation
 
@@ -29,20 +28,22 @@ Clone [staubli_val3_driver](https://github.com/ros-industrial/staubli_val3_drive
 git clone https://github.com/ros-industrial/staubli_val3_driver.git
 ```
 
-### Transfer driver to Staubli CS8 controller
+### Transfer driver to Staubli CS8/CS8C controller
+
+There are 2 ways of transferring the VAL 3 application to the controller:
 
-There are several ways of transferring VAL3 applications to a Staubli controller.
-The simplest method is probably copying the contents of `val3` folder into a USB memory stick (<2GB given the CS8 limitations), plugging the stick to the controller and using the teach pendant to copy the folders.
+1. Copy the contents of `val3` folder onto a USB memory stick (<2GB given the CS8/CS8C limitations), plugging the stick into the controller and using the teach pendant to copy the folders
+
+1. Use the Transfer Manager in SRS to copy the VAL 3 applications to the controller. (Home -> Controller -> Transfer Manager)
 
 ### Open the VAL3 application with Staubli SRS
 
-Although it is possible to edit the source files with any text editor (they are essentially XML files), it is advisable to use the Staubli Robotics Suite:
+Although it is possible to edit the source files with any text editor (they are essentially XML files), it is advisable to use [Staubli Robotics Suite](https://www.staubli.com/en-us/robotics/product-range/robot-software/pc-robot-programming-srs/):
 
 * Copy contents of folder `val3` into the `usrapp` folder of the Staubli cell
 * Open the `ros_server` VAL3 project located inside the `ros_server` folder
 
-SRS offers autocompletion, syntax highlighting and syntax checking, amongst other useful features, such as a Staubli controller/teach pendant emulator.
-
+SRS offers autocompletion, syntax highlighting and syntax checking, amongst other useful features, such as a Staubli controller/teach pendant emulator. 
 
 ## Usage
 
@@ -55,7 +56,7 @@ From `Main menu`:
 
 ### Configuration
 
-The TCP sockets on the CS8 controller/emulator must be configured prior to using the driver, otherwise a runtime error will be displayed on the teach pendant and the driver will not work.
+The TCP sockets on the CS8/CS8C controller/emulator must be configured prior to use, otherwise a runtime error will be generated and the driver will not work.
 
 Two sockets (TCP Servers) are required. From `Main menu`:
 
@@ -73,17 +74,17 @@ have been transferred to the Staubli controller
 2. The VAL3 application `ros_server` has been loaded
 3. Both TCP Server sockets have been configured properly
 
-Then simply press the `Run` button, ensure that `ros_server` is highlighted, then press `F8` (Ok).
+Press the `Run` button, ensure that `ros_server` is highlighted, then press `F8` (Ok).
 
-Notice that depending on which mode of operation is currently active, the motors may need to be enabled manually (a message will pop up on the screen).
-Likewise, the robot will only move if the `Move` button has been pressed (or is kept pressed if in manual mode).
+Depending on which working mode the controller is in, arm power may need to be enabled manually (a message will pop up on the screen).
+Once arm power is enabled, the robot will only move if the `Move` button has been pressed (or is kept pressed if in manual mode).
 
 ### Run the industrial_robot_client node (ROS-I client)
 
 The `indigo-devel` branch provides launch files (within the `staubli_val3_driver` ROS package). Simply run:
 
 ```shell
-roslaunch staubli_val3_driver robot_interface_streaming.launch robot_ip:=<CS8 controller IP address>
+roslaunch staubli_val3_driver robot_interface_streaming.launch robot_ip:=<controller IP address>
 ```
 
 ## Bugs, suggestions and feature requests