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OrebroUniversity / yumi

ROS packages pertaining to the ABB YuMi (IRB 14000) robot
BSD 2-Clause "Simplified" License
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Instructions to load RAPID code to robot studio #18

Closed neubotech closed 6 years ago

neubotech commented 7 years ago

Hello, great job on getting the yumi interface work with ROS and MOVEIT! I'm wondering if you have an instruction of how to load your RAPID code to YUMI via robot studio. Much appreciated!

tstoyanov commented 7 years ago

Hi,

at the moment there are no instructions here. However, if all you want to do is use YuMi with MoveIt (and not use ros_control), then you can follow the instructions on the abb ros-industrial wiki (http://wiki.ros.org/abb/Tutorials). The steps are the same for YuMi, just use the RAPID files provided in the yumi_support package. You would need to use our fork of ros-industrial (OrebroUniversity/ros-industrial), and you only need to configure one motion/state server for the robot (see #9). You would still need two different motion execution tasks, one for each arm.

When I have some time I will write a how-to, but for now you might have to figure things out on the go.

YoshuaNava commented 6 years ago

Hey, I wrote a guide on how to set the RAPID modules for the different control interfaces: Firmware

Hope this helps, Yoshua