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If your robot has a parallel linkage between joints 2 and 3, as many ABB robots do, you’ll need to set a parameter in the ABB launch file. If you can’t use rviz, then it is acceptable to monitor the joint_states feedbackĪs you have done, but this may be more tricky. I would recommend checking things out thoroughly before issuing motion commands. This action takes a trajectory of the same format as above. If you prefer a higher-level interface, there is also an action server that supports theĬontrol_msgs::FollowJointTrajectory action. The trajectory should start at the robot’s current position. These messages are sequences of joint waypoints that the robot moves through. Sending a valid message on that topic should cause the robot to move. Trajectory_msgs/JointTrajectory commands. ROS-Industrial robot interfaces listen on the “joint_path_command” topic for I will try to solve this rviz issue in my ros-groovy-ubuntu setup just to get the working screen showing the robot model. Is that even possible with this ABB driver? From what I could see the answer is no, but could you please confirm this for me? Is there a topic where I can publish the command for the new values of joint state (something like /cmd_vel of type Twist)? I only need to test the connectivity and sending out commands to the robot. Since I'm from mobile robotics and I'm just helping the industrial robotics team I'm probably not very familiar with this but I need to ask. Also, when I run the third line (connecting to the robot) it seems it get /joint_states quite right.Ģ. However, when I echo /joint_states topic for the irb_120.urdf model I found on github repo it seems its working. Probably some OpenGL/GLSL related issue, I still need to check it out. This thing mostly works but rviz doesnt show any model. I tested you commands and here's what I got:ġ.
#Abb robotstudio 6.02 free#
If you run into any difficulties along the way, feel free to post back here (or on ROS Answers), and someone will try to help. Once you’ve gotten through step 5, then you mostly have a robot ready to interact with all of the ROS planning tools, and the next steps will be up to your Make sure and FILTER the trajectory.Ĭ) if the trajectory looks good, execute on the real robot Roslaunch myRobot_arm_navigation planning_scene_warehouse_viewer_myRobot_real.launchī) jog the physical robot around, and verify that the rviz model mirrors the physical robot correctly.Ĭ) make sure and test every joint, and check for unusual cases: wrap-around joints, limits, coupled-joints, etc.ĥ) Execute an arm_navigation trajectory on the physical robotī) plan a trajectory in rviz pick something “safe”, like a small motion of joint 6. Rostopic echo joint_states (should match the robot’s joint positions)Ĥ) Verify the arm_navigation environment mirrors the physical robot Roslaunch abb_common robot_interface.launch robot_ip:= The virtual robot should move.ģ) Run the robot interface nodes to verify connectivity with the robot: Roslaunch myRobot_arm_navigation planning_scene_warehouse_viewer_myRobot.launchī) try planning a trajectory and executing it. neg motion) and zero position are correctĢ) Run the planning scene in simulation mode to verify the arm_navigation (or moveit) package is configured correctly Roslaunch urdf_tutorial display.launch model:= gui:=Trueī) move the joint-sliders to verify the robot moves correctlyĬ) especially check that the joint directions (pos vs.
#Abb robotstudio 6.02 code#
Once you have the code installed, I usually check things out in stages:ġ) Interact within rviz to verify the URDF is set up properly: Installation from either source is described on GoogleCode, but we are in the process of transitioning them to
#Abb robotstudio 6.02 install#
If you prefer, you can install directly from the source repositories. The easiest way to install ROS-Industrial is from the binary debian packages. I think it’s even marked as “deprecated”, and is probably not updated with the latest ROS-Industrial Actually, that repository is a fork of the main repository.