search

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

Setting up EGM sessions for abb_libegm_samples #123

Closed dyumanaditya closed 3 years ago

dyumanaditya commented 3 years ago

Hi, I apologize for my elementary questions. My catkin_ws looks like this:

-- src
    -- abb_egm_rws_managers
    -- abb_libegm
    -- abb_libegm_samples
    -- abb_librws
    -- abb_robot_cpp_utilities
    -- abb_robot_driver_interfaces
    -- abb_rws_service_provider

What I am trying to do is to start an EGM session remotely and then use rosrun to launch a node from the abb_libegm_samples. I have loaded the EGMSamplesSolution in RobotStudio meant for the abb_libegm_samples. When I run roslaunch abb_rws_service_provider rws_service_provider.launch robot_ip:=127.0.0.1 to start the RWS services and then in a different terminal run rosservice call /rws/pp_to_main "{}" or rosservice call /rws/start_rapid "{}", I get:

result_code: 3001
message: "\"Robot controller is not in AUTO mode\""

But in RobotStudio the controller operating mode is set to "auto". How can I fix this?

On a separate note, how can I start an EGM session from RobotStudio itself, without RWS? I've tried setting the Program Pointers to main and then running the rapid code from inside RobotStudio but that doesn't seem to do it.

jontje commented 3 years ago

The abb_rws_service_provider node requires the abb_rws_state_publisher node for most services, as mentioned in the overveiw section.

gavanderhoorn commented 3 years ago

@jontje: tracking this in https://github.com/ros-industrial/abb_robot_driver/issues/22.

dyumanaditya commented 3 years ago

The abb_rws_service_provider node requires the abb_rws_state_publisher node for most services, as mentioned in the overveiw section.

Thank you, this solved my problem

gavanderhoorn commented 3 years ago

Closing as it seems resolved.