cnc_interface

ROS node to interface cnc machines using GRBL as GCODE interpreter.

Author : Pablo Costas Franco

This project is based on https://github.com/openautomation/ROS-GRBL

Topics

Publishing

Change the Rospy Rate to change the publishing rate

• /cnc_interface/position (Twist) Publish actual position of the machine
• /cnc_interface/status (String) Dumps GRBL status message

Suscribing

• /cnc_interface/cmd (Twist) XYZ absolute coordinates in ROS Msg format Twist
• /cnc_interface/stop (String) 's' To stop the stepper motors 'f' to reenable stepper motors

Running the node

In /cnc_interface/launch you will have to place a launch file describing you machine for the node to config properly the parameters. An example has been included for interfacing a Shapeoko cnc controlled by a Smoothieboard. Note that for operating the serial port, first you will have to locate the serial port under /dev/tty*. Before running the node, the user has to be granted with permissions to operate the port. sudo chmod 0777 /dev/tty<whatever>

Once cloned, grant check that the file cnc_interace.py in scripts has excute permisions, otherwise set them with chmod +x scripts/cnc_interface.py or the node wont launch.

Once the node is launched the machine will start the homing procedure, so keep in mind.