Available Robot Models

The Staubli ROS2 Driver currently supports the following robot models “out-of-the-box”:

Model

Robot type

Tag for launch

Notes

TX2-60L

6DoF arm

tx2_60l

N/A

TX2-60L MR (medical)

6DoF arm

tx2_60l_med

F/T sensor not yet supported

Note

Depending on the specific robot, the robot controller sampling time may differ. For example, the TX2-60L has a sampling time of 4 ms (250 Hz), while the TX2-60L MR has a sampling time of 1 ms (1 kHz). The VAL3 application provided with the driver is designed to run at 250 Hz. However, if needed, it can be adapted to run faster by adjusting the control task period:

  1. Open the VAL3 application and navigate to the control task (staubli_robot_driver/val3/userapp/ros2_server/start.pgx).

  2. Find the line that sets the control period (around lines 35–36) and set it to the desired sampling time in second:

// Setup control task
l_nCtrlPeriod = <your sampling time in seconds>

  1. Redeploy the application to the robot

  2. Update ROS2 control parameters accordingly (i.e., set the control loop period to match the control task frequency).

For reference, for the TX2-60L MR, the task frequency has been successfully tested at 500 Hz (2 ms control period).