This tutorial describes how to run the ABB ROS Server, so the robot will execute motion commands sent from the ROS client node. This tutorial walks through the steps of installing the ROS server code on the ABB robot controller and configuring the required controller settings.

The following tutorials are provided to demonstrate installation and operation of an ABB robot using the ROS Industrial interfaces: To set up the ROS node (Fuerte only at the moment), copy abb_node to somewhere in your $ROS_PACKAGE_PATH. Note that you must either copy abb_node/packages/abb_comm/abb.py to your local directory or somewhere included in your PYTHONPATH environment. Try pinging the robot (default IP is 192.168.125.1).īefore trying ROS, it's pretty easy to check functionality using the simple python interface. Verify that your computer is on the same subnet as the robot. Production Window->PP to Main, then press the play button. In SERVER.mod, check to make sure the 'ipController' specified is the same as your robot. Using RobotStudio online mode is the easiest way to do this, check out the wiki article for details.įor position feedback, install the RAPID module 'LOGGER' into another task. 'Multitasking' (required for position feedback stream) Robot must have the following factory software options

You can also include the Python or C++ libraries to communicate with the robot directly (both located in abb_node/packages/abb_comm), and bypass ROS completely. You can use the ROS driver, which allows control using ROS services and publishers.

The second is a series of libraries to interact with the robot from remote computers, using several different control schemes. The first is a program which is written in the ABB robot control language, RAPID, which allows remote clients to send requests for actions (such as joint moves, cartesian moves, speed changes, etc.). Open-abb-driver consists of two main parts. ROS连接ABB机械臂调试详细教程-ROS(indigo)和ABB RobotStudio 6.03.02-Ĭontrol ABB robots remotely with ROS, Python, or C++

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