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ros-industrial / abb_robot_driver_interfaces

ROS message and service definitions for a ROS driver for ABB robots
BSD 3-Clause "New" or "Revised" License
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abb egm messages ros ros-industrial rws

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abb_robot_driver_interfaces

CI - Ubuntu Bionic CI - Ubuntu Focal Github Issues

license - bsd 3 clause

support level: community

Please note that the included packages have not been productized, and that academia is the intended audience.\ The packages are provided "as-is", and as such no more than limited support can be expected.

Overview

ROS packages with ROS message and service definitions, intended for use with abb_robot_driver.

The included packages are briefly described in the following table:

Package Description
abb_robot_msgs ROS message and service definitions representing basic interaction with ABB robots:
  • Reading system states (e.g. motors on/off and if auto/manual mode is active).
  • Starting and stopping RAPID program execution.
  • Reading and writing of RAPID data symbols (e.g. variables and constants).
  • Reading and writing of IO-signals.
  • And more.
abb_rapid_msgs ROS message definitions representing complex RAPID data structures:
  • loaddata.
  • tooldata.
  • wobjdata.
  • jointtarget.
  • robtarget.
  • And more.
abb_egm_msgs ROS message definitions representing data related to Externally Guided Motion (EGM) communication channels.
abb_rapid_sm_addin_msgs ROS message and service definitions representing interaction with RAPID program instances of the RobotWare StateMachine Add-In:
  • Reading runtime states of the RAPID program instances (i.e. the state machines).
  • Starting and stopping EGM communication sessions.
  • Reading and writing of EGM RAPID settings.
  • Opening/closing SmartGripper fingers.
  • And more.

Please see abb_robot_driver for more details.

Acknowledgements

ROSIN Project

rosin_logo The core development has been made within the European Union's Horizon 2020 project: ROSIN - ROS-Industrial Quality-Assured Robot Software Components (see http://rosin-project.eu for more info).

eu_flag The ROSIN project has received funding from the European Union's Horizon 2020 research and innovation programme under grant agreement no. 732287.

The opinions expressed here reflects only the author's view and reflects in no way the European Commission's opinions. The European Commission is not responsible for any use that may be made of the contained information.

Special Thanks

Special thanks to gavanderhoorn for guidance with open-source practices and conventions.