ROS package for the COMPAS RRC driver for ABB robots.
The easiest option to use the ROS package is via Docker:
Download the docker-compose.yml
file to your computer
To use it with a virtual controller (ABB RobotStudio) on the same computer, no further changes are needed.
To use it with a real robot, update the robot's IP address in docker-compose.yml
file (e.g. robot_ip:=192.168.0.100
)
To use it in other scenarios, check the examples folder.
Run docker compose up:
$ docker-compose up
Start the robot controller(s).
If you prefer to use a ROS installation on Linux:
On the terminal, change to your catkin workspace source folder:
$ cd ~/catkin_ws/src/
Clone this repository:
$ git clone https://github.com/compas-rrc/compas_rrc_ros.git
Build your workspace (e.g. using catkin_make
):
$ cd ~/catkin_ws $ catkin_make
Source your workspace:
$ source ~/catkin_ws/devel/setup.bash
Launch the driver using one of the provided launch files, e.g.:
$ roslaunch compas_rrc_driver bringup.launch robot_ip:=127.0.0.1 robot_streaming_port:=30101 robot_state_port:=30201
The launch files have the following parameters available:
robot_ip
: [mandatory] IP address of the robot.robot_streaming_port
: [optional, default=30101
] TCP port of the streaming interface of the robot.robot_state_port
: [optional, default=30201
] TCP port of the state interface of the robot.sequence_check_mode
: [optional, default=none
] Sequence check mode, valid options are: none
, all
, incoming
, outgoing
namespace
: [optional, default='/'
] Allows to define a namespace in order to connect to multiple robots on the same instance. Defaults to root (/
).This project is licensed under the terms of the MIT License.