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ros-industrial / abb

ROS-Industrial ABB support (http://wiki.ros.org/abb)
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OmniCore and IRB 1100 support #164

Closed garyedwards closed 5 years ago

garyedwards commented 5 years ago

I may be jumping the gun here as I believe it is released this month, but we are in the experimental repo. Has there been any testing of the new OmniCore controller with ROS? I contacted my local ABB support who had not head of ROS but suggested it can run the same rapid code as older larger models. We are looking at procuring a small / mobile robot at the moment and it would be great to understand if this is likely to be supported.

gavanderhoorn commented 5 years ago

I'm not aware of any work towards OmniCore support specifically.

Perhaps @jontje can say something about the compatibility of existing RAPID code (and thus the driver) with the new controller infrastructure.

gavanderhoorn commented 5 years ago

I've also transferred this to the main repository as the driver you're referring to is hosted here.

jontje commented 5 years ago

Perhaps @jontje can say something about the compatibility of existing RAPID code (and thus the driver) with the new controller infrastructure.

I am not aware of any major change in the RAPID language for RobotWare 7, and I would be a bit surprised if it would require a big effort to get the current RAPID code, and driver, to work with the new controller.

gavanderhoorn commented 5 years ago

@garyedwards: as the new controllers haven't really been released yet, we can't really act on this right now. In addition, according to @jontje, the new controller should be fully bw-compatible, so the assumption right now would be that abb_driver "just works".

Based on this I'm closing this issue as I believe @jontje answered your question.

If it turns out the driver doesn't work and we need to change something -- as far as we don't all migrate to abb_libegm and abb_librws -- we can re-open.