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 controlled robots, by exposing a FollowJointTrajectory action server, which is compatible with MoveIt and other nodes that implement an action client.
The current version of the driver is compatible with CS8 controllers only. Future work may extend this to support CS9 controllers as well.