Closed stevedanomodolor closed 3 years ago
abb_libegm
is a pure C++ library that do not depend on ROS, while the abb_robot_driver
provides ready to use ROS nodes. Internally, to implement the ROS nodes abb_robot_driver
uses the abb_libegm
C++ library.
abb_libegm vs abb_driver
abb_driver
is not the same as abb_robot_driver
.
Could you clarify which one you're asking about @stevedanomodolor?
abb_robot_driver, @gavanderhoorn, If i wanted to use moveit for motion planning, would you advice me to use abb_robot_driver or send the command directly with the abb_lib_egm? Or it there already a way of doing motion plannig directlty with the abb_robot_driver?
What are the advatatges of using the abb_libegm vs using the abb_driver?
I believe @traversaro explained it well enough: abb_robot_driver
is an actual ROS driver for ABB controllers. abb_libegm
is a low-level library for interfacing with EGM capable ABB controllers.
The former uses the latter, but they are definitely not comparable.
If i wanted to use moveit for motion planning, would you advice me to use abb_robot_driver or send the command directly with the abb_lib_egm?
Depends on how much work you want to do yourself.
Do you want to simply execute trajectories? Use abb_robot_driver
.
Do you first want to have to write your own action server, trajectory interpolator and execution node(s)? Then use abb_libegm
(probably in combination with abb_librws
).
Or it there already a way of doing motion plannig directlty with the abb_robot_driver?
I'm not sure I understand what you mean by this.
Drivers typically don't perform any "motion planning". They are components which essentially transform data and control flow:
depending on what you'd classify as motion planning, I don't believe that would fall under these two responsibilities.
As this is not an issue with abb_libegm
, but more of a usage / general question, I'm going to close it.
Feel free to keep commenting on it of course @stevedanomodolor.
@gavanderhoorn thank you very much , I understood it clearly
this is out of curiosity, What are the advatatges of using the abb_libegm vs using the abb_driver?