Abstract
This paper introduces the ROS2 control and the Hardware Interface (HW) integration for the Fanuc CRX- robot family. It explains basic implementation details and communication protocols, and its integration with the Moveit2 motion planning library. We conducted a series of experiments to evaluate relevant performances in the robotics field. We tested the developed ros2_fanuc_interface for four relevant robotics cases: step response, trajectory tracking, collision avoidance integrated with Moveit2, and dynamic velocity scaling, respectively. Results show that, despite a non-negligible delay between command and feedback, the robot can track the defined path with negligible errors (if it complies with joint velocity limits), ensuring collision avoidance. Full code is open source and available at https://github.com/paolofrance/ros2_fanuc_interface.