package.xml

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="2">
  <name>fanuc_cr35ia_support</name>
  <version>0.5.1</version>
  <description>
    <p>
      ROS-Industrial support for the Fanuc CR-35iA (and variants).
    </p>
    <p>
      This package contains configuration data, 3D models and launch files
      for Fanuc CR-35iA manipulators. This currently includes the base model
      only.
    </p>
    <p><b>Specifications</b>:</p>
    <ul>
      <li>CR-35iA - Normal Range</li>
    </ul>
    <p>
      Joint limits and maximum joint velocities are based on the information in
      the <em>FANUC Robot CR-35iA Mechanical Unit Operator's Manual</em> version
      <em>B-83734EN/01</em>. All urdfs are based on the default motion and
      joint velocity limits, unless noted otherwise (ie: no support for high
      speed joints, extended / limited motion ranges or other options).
    </p>
    <p>
      Before using any of the configuration files and / or meshes included
      in this package, be sure to check they are correct for the particular
      robot model and configuration you intend to use them with.
    </p>
    <p>
      <b>Note</b>: there is currently some confusion over the correct values for
      the joint limits of joints 2 and 3. Version <em>B-83734EN/01</em> of the
      Operator's Manual incorrectly states that 1.05 rad equals 120 degrees,
      and that 0.39 rad equals 45 degrees (joint 2). Additionally, it gives a
      value of -122.9 degrees for the lower limit of joint 3, whereas (at
      least) Roboguide Rev K have this limit set to -182 degrees.
      We advise users to pay extra attention when verifying the xacro in this
      support package until this is cleared up.
    </p>
  </description>
  <author>G.A. vd. Hoorn (TU Delft Robotics Institute)</author>
  <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
  <license>BSD</license>

  <url type="website">http://wiki.ros.org/fanuc_cr35ia_support</url>
  <url type="bugtracker">https://github.com/ros-industrial/fanuc/issues</url>
  <url type="repository">https://github.com/ros-industrial/fanuc</url>

  <buildtool_depend>catkin</buildtool_depend>

  <test_depend>roslaunch</test_depend>

  <exec_depend>fanuc_driver</exec_depend>
  <exec_depend>fanuc_resources</exec_depend>
  <exec_depend>industrial_robot_client</exec_depend>
  <exec_depend>joint_state_publisher_gui</exec_depend>
  <exec_depend>robot_state_publisher</exec_depend>
  <exec_depend>rviz</exec_depend>
  <exec_depend>xacro</exec_depend>

  <export>
    <architecture_independent />
    <rosindex>
      <tags>
        <tag>cr35ia</tag>
        <tag>description</tag>
        <tag>fanuc</tag>
        <tag>industrial</tag>
        <tag>ros-industrial</tag>
        <tag>support_package</tag>
      </tags>
    </rosindex>
    <ros_industrial>
      <support_level value="community" />
    </ros_industrial>
  </export>
</package>