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ros-industrial / abb_driver

(old) ROS driver for ABB IRC5 / RW5 or RW6 controllers (Simple Message & RAPID)
http://wiki.ros.org/abb_driver
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Publishing to `robot_status` topic #11

Closed MHashmi2018 closed 3 years ago

MHashmi2018 commented 3 years ago

I have studies this driver and I have not yet confirmed if it subscribes to the robot_status topic of type industrial_msgs/RobotStatus. Can someone please confirm for me if this is the case? I would like to be absolutely sure before I run anything on the real robot.

gavanderhoorn commented 3 years ago

I have not yet confirmed if it subscribes to the robot_status topic

no, the driver does not subscribe to robot_status.

It does publish to it though.

Refer to wiki/abb_driver: Published_Topics.

For the RAPID side:

https://github.com/ros-industrial/abb_driver/blob/ddf8d525a54300374171064b805907f146a40024/rapid/ROS_stateServer.mod#L87-L161

gavanderhoorn commented 3 years ago

Closing as I believe the initial question was answered.

MHashmi2018 commented 3 years ago

Thank you very much!