Support for ABB GoFa 15000

PickNikRobotics / abb_ros2

Apache License 2.0

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Support for ABB GoFa 15000 #69

Open AnirbanSinhaRobotics opened 5 months ago

AnirbanSinhaRobotics commented 5 months ago

Hi,

I want to use abb_ros2 to control ABB GoFa 15000 robot. From the readme file of the abb_ros2, it looks like ABB GoFa 15000 model is not supported yet since its MoveIt config files are unavailable. It will be very helpful to know the answers of the following questions,

Is there any plan to add ABB GoFa model to the abb_ros2?
What will be the setup for the OmniCoreC30 controllers to use abb_ros2 through EGM?

Yadunund commented 1 month ago

You should be able to command a GoFa with this driver. You'll need to create the description package yourself. To work with Omnicore controllers, you'll need to to set the configure_with_rws to false. See this PR for details https://github.com/PickNikRobotics/abb_ros2/pull/56