The open-source robot operating system (ROS) has made significant contributions to the robotics industry by streamlining application development. For example, software platforms like the ROS2-compatible MoveIt2, IKFast and Gazebo have made it easier to make robot applications with complex motion planning, inverse kinematics and control. Now Copley Controls has made the development of robot applications even easier.

The Copley Motion Library (CML) creates a pathway between ROS development platforms like MoveIt2 and the drives that make robot movements a reality. CML works with both CANopen- and EtherCAT-based servo and stepper drives as well as I/O.

CML is a C++ object-oriented library for CANopen and EtherCAT based networks. This library runs on both Linux, QNX and Windows operating systems, and allows low-level access to CANopen and EtherCAT networks while also providing high-level access to multiple-axis robotic path-planning motion control applications like MoveIt2.

ROS2 and MoveIt2

The latest iteration of the robotic manipulation platform, MoveIt2 is compatible with ROS2. As a result, the platform supports the latest advances in:

Motion planning
Manipulation
3D perception and visualization
Inverse kinematics
Control
Navigation
Collision checking

One way that MoveIt2 simplifies robot development is by computing inverse kinematics to calculate joint positions, even if the arms are over-actuated. Previously, calculating the positions would require computationally expensive mathematics. MoveIt2 also provides an easy-to-use GUI that facilitates trajectory planning and execution.

Copley Motion Library

Acting as a master for CANopen or EtherCAT devices, the CML package is an intermediary between ROS and a drive. This package consists of features and methods specifically developed for ROS. The CML makes streaming positions for a network extremely efficient, allowing non-RTOS systems to implement ROS trajectories in servo and stepper drives. The deterministic trajectories ensure robot actuation occurs exactly when and where it should, improving performance, reliability and safety.

The CML features cubic polynomial (PVT) interpolation, point-to-point moves, process data objects (PDO), service data objects (SDO), file transfers and error handling. This library allows you to synchronize time and position across a network of Copley CANopen and EtherCAT drives. The CML supports the maximum number of nodes per network as defined by each standard. CML also enables real-time messaging through PDOs and SDOs. You can learn more about CML with our GitHub repo of examples.

Learn More

On May 1-2, 2024, we will attend the Robotics Summit and Expo 2024 at the Boston Convention and Exhibition Center. One of our software engineers will deliver a presentation on the importance of deterministic data transmission in ROS trajectories.

We look forward to seeing you at the Robotics Summit and Expo. If you’d like to learn more, download our software manual or contact us to speak with one of our experts.

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