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abb: abb_common | abb_driver | abb_irb2400_moveit_config | abb_irb2400_moveit_plugins | abb_irb2400_support | abb_irb5400_support | abb_irb6600_support | abb_irb6640_moveit_config | abb_moveit_plugins | irb_2400_moveit_config | irb_6640_moveit_config

Package Summary

ROS-Industrial nodes for interfacing with ABB robot controllers.

This package is part of the ROS-Industrial program and contains nodes for interfacing with ABB industrial robot controllers.

abb: abb_driver | abb_irb2400_moveit_config | abb_irb2400_moveit_plugins | abb_irb2400_support | abb_irb5400_support | abb_irb6600_support | abb_irb6640_moveit_config | abb_irb6640_support | abb_resources

Package Summary

ROS-Industrial nodes for interfacing with ABB robot controllers.

This package is part of the ROS-Industrial program and contains nodes for interfacing with ABB industrial robot controllers.

abb: abb_driver | abb_irb2400_moveit_config | abb_irb2400_moveit_plugins | abb_irb2400_support | abb_irb4400_support | abb_irb5400_support | abb_irb6600_support | abb_irb6640_moveit_config | abb_irb6640_support | abb_resources

Package Summary

ROS-Industrial nodes for interfacing with ABB robot controllers.

This package is part of the ROS-Industrial program and contains nodes for interfacing with ABB industrial robot controllers.

Package Summary

ROS-Industrial nodes for interfacing with ABB robot controllers.

This package is part of the ROS-Industrial program and contains nodes for interfacing with ABB industrial robot controllers.

  • Maintainer status: maintained
  • Maintainer: Levi Armstrong (Southwest Research Institute) <levi.armstrong AT swri DOT org>
  • Author: Edward Venator, Jeremy Zoss, Shaun Edwards
  • License: BSD

Overview

This package is part of the ROS-Industrial program.

Features

This package currently supports the following:

The driver is largely manipulator agnostic, meaning that it will work with just about any ABB robot an IRC5 controller is compatible with.

Multi-group robots

There is no special support for robot controllers configured with multiple mechanical units, but this can be worked-around by setting up multiple instances of the RAPID programs and assigning them to specific units. Paired with multiple instances of the ROS nodes (appropriately namespaced) this supports asynchronous motion execution and state reporting in multi-group robot setups.

YuMi

While it is possible to use this driver with YuMi, for now this is not recommended.

There are many packages that target YuMi specifically, one of which is kth-ros-pkg/yumi. As of now, users of an IRB 14000 are suggested to consider using that package.

Status

The package is usable as-is, but is not feature complete. However, no significant development is planned, as development focus has shifted to abb_libegm and abb_librws.

Community contributed usability enhancements and new features will however be accepted and merged.

Requirements

The ABB ROS Server code is written in RAPID, using a socket interface and multiple parallel tasks. The code was originally tested on an IRC5 controller, with an IRB-2400 robot, but other combinations should also work. The following controller options are required:

RobotWare OS version 5.13 or later is required due to the use of certain socket options. Earlier versions may work, but will require modifications to the RAPID code.

Tutorials

Use the links on the Tutorials page for access to the tutorials. These explain how to install and set up the RAPID programs on the controller, as well as how to use them in conjunction with the ROS nodes in this package.

Nodes

robot_state

Connects to the StateServer RAPID task on the controller and publishes joint states.

Action Feedback

feedback_states (control_msgs/FollowJointTrajectory)

Published Topics

joint_states (sensor_msgs/JointState)

Parameters

robot_ip_address (str, default: none) ~port (integer, default: 11002) robot_description (str, default: none) controller_joint_names ([str, str, str, ..])

motion_download_interface

Connects to the MotionServer RAPID task on the controller and uploads trajectories.

Subscribed Topics

joint_states (sensor_msgs/JointState) joint_path_command (trajectory_msgs/JointTrajectory)

Services

joint_path_command (industrial_msgs/CmdJointTrajectory) stop_motion (industrial_msgs/StopMotion)

Parameters

robot_ip_address (str, default: none) ~port (integer, default: 11000) robot_description (str, default: none) controller_joint_names ([str, str, str, ..], default: none)


2019-12-07 12:25