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ros-industrial / abb_experimental

Experimental packages for ABB manipulators within ROS-Industrial (http://wiki.ros.org/abb_experimental)
Apache License 2.0
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Dependency on abb_driver #129

Closed dave992 closed 2 years ago

dave992 commented 3 years ago

I am currently configuring a new robot cell with an ABB IRB1200, and am therefore using this package for the URDF of the manipulator. I plan on using the new abb_robot_driver, but I noticed during the build tests I ran that the packages in this repository still depend on the old abb_driver.

Are there any plans to migrate this to the new driver or make this repository agnostic to the driver used?

gavanderhoorn commented 3 years ago

This is a similar issue as with RViz. We discussed that a bit in https://github.com/ros-industrial/ros_industrial_issues/issues/50.

The trade-off seems to always be: the dependency can be removed, but that will mean users will be left with 'broken' .launch files, unless they figure out they also need to install the driver used.

An additional complicating factor in this case is that abb_robot_driver basically only works if you have EGM. So we cannot standardise on it, as that's not a basic option.

dave992 commented 3 years ago

The trade-off seems to always be: the dependency can be removed, but that will mean users will be left with 'broken' .launch files, unless they figure out they also need to install the driver used.

Yeah, I understand. It just seemed to me the robot_interface_* launch files seem to be more in place in their respective driver packages, but that indeed does not solve the 'broken' .launch files that will happen if this is changed now.

An additional complicating factor in this case is that abb_robot_driver basically only works if you have EGM. So we cannot standardise on it, as that's not a basic option.

Thats a good point.

gavanderhoorn commented 2 years ago

As I believe the initial question raised has been answered, I'm going to close this issue.

Feel free to keep commenting on it of course.