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ros-industrial / abb_libegm

A C++ library for interfacing with ABB robot controllers supporting Externally Guided Motion (689-1)
BSD 3-Clause "New" or "Revised" License
93 stars 53 forks source link

support for the Omnicore controller #118

Closed marekcygan closed 3 years ago

marekcygan commented 3 years ago

I would like to ask whether this library will work with the new controller Omnicore (e.g., for IRB 1300), which also requires Robotware 7+ if I understand correctly.

gavanderhoorn commented 3 years ago

This library: afaik, yes, it is compatible with RW7. @jontje has tested this. He'll probably confirm tomorrow.

abb_librws however is not: RWS changed a bit between RW6 and RW7. See also https://github.com/ros-industrial/abb_librws/issues/80.

jontje commented 3 years ago

I have tested abb_libegm with single armed YuMi robots, which runs on OmniCore controllers, and it worked fine.

I have not tested with the latest RobotWare 7.1.0 version, but I don't expect any problems (based on what I can see in the release notes).

Also, I recommend setting up a test with RobotStudio for the case in question, since if that works then it will most likely work with a real robot.

gavanderhoorn commented 3 years ago

Seeing as the immediate question was answered, I'm going to close this.

@marekcygan: if it turns out something does need to be fixed or changed in abb_libegm, we can track it in more on-topic issues.

marekcygan commented 3 years ago

@jontje @gavanderhoorn thanks for quick answers!