CRCOpen ROS2 Driver

Overview

ROS2 supports a growing number of robots. Comau is a supplier of industrial robots, and their CRCOpen software uniquely provides external control, at a low level, of a heavy duty commercial robot. However, CRCOpen is challenging to program due to strict demands placed on software. This ROS2 driver handles the low level communication challenges, presenting control in the widely used ROS2 modular format.

Fusion product sampling tools details

CRCOpen is an option available on Comau robot controller (CRC) cabinets to enable control of a robotic system by an external Linux computer. This driver is developed on top of CRCOpen to allow the user to unlock the ROS 2 ecosystem for research and development use.

ros2_control is the primary framework within the ROS 2 ecosystem for managing control and access to robot hardware. Modularity is through separate packages for hardware interfaces, robot descriptions, and controllers. For more detail, users should familiarise themselves with the ros2_control documentation.

This repository contains:

• the ROS 2 driver itself, in ros2_control terminology, this is a Hardware Component of the System type
• a directory of robot description packages for Comau robots – currently only Comau NJ130-2.6
• a ROS 2 bring up package with useful launch files

Who it’s for

CRCOpen ROS2 Driver is for robotics researchers and industrial users of Comau robots.

Licence

Open Source

Release date

13 October 2025

Programming languages

• ROS 2
• C++

Dependencies

Comau CRCOpen

Compatible platforms / systems

Linux