This repository contains the staubli_val3_driver package which provides a set of VAL3 libraries and an application which together implement a simple_message compatible server implementation. Together with the nodes in industrial_robot_client, this server can be used as a ROS 1 driver that allows motion control of Staubli CS8/CS9 controlled robots, by exposing a FollowJointTrajectory action server, which is compatible with MoveIt and other nodes that implement an action client.

Refer to the staubli_val3_driver readme for more information on requirements, setup and use.

The current version of the driver is compatible with Staubli CS8 and CS9 controllers.