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Hi,

I'm working currently with ROS-I, RVIZ and a industrial from ABB, the IRB-140. I have read that you can controller it using the robot ABB's Package from ROS-industrial and ROBOTSTUDIO in a WIndows PC; however, I'm asking me if you can controllet it directly from ROS without use ROBOTSTUDIO.

Thanks for your answers.


Originally posted by jaam002 on ROS Answers with karma: 25 on 2015-09-19

Post score: 0


Original comments

Comment by gvdhoorn on 2015-09-19:
Could you point me (link) to where you read that you would need RobotStudio to use the ABB packages?

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I have read that you can controller it using the robot ABB's Package from ROS-industrial and ROBOTSTUDIO in a WIndows PC [..]

There is no need for RobotStudio whatsoever to use the ROS-Industrial ABB packages, unless you want to control simulated hardware (ie: robots).

The abb_driver and other packages are designed to be used with ABB controllers, whether simulated or real.

[..] I'm asking me if you can controllet it directly from ROS without use ROBOTSTUDIO

So: yes.


Originally posted by gvdhoorn with karma: 86574 on 2015-09-19

This answer was ACCEPTED on the original site

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Original comments

Comment by jaam002 on 2015-09-19:
@gvdhoorn Aaa ok, so you are able to send paths or trajectories(i.e Moveit) from rviz. Sorry, i'm new in ROS and i can't get all this concepts yet.

It is the link I was following,

http://wiki.ros.org/abb/Tutorials

and currently i'm creating the urdf for this robot.

Comment by gvdhoorn on 2015-09-19:
The tutorials you linked just show you that it is possible to run the abb_driver on a controller simulated in RobotStudio, nowhere is it stated that you need it?

And yes: install the rapid code on the ctrlr, start the abb_driver nodes and use the FollowJointTrajectoryAction server.

Comment by gvdhoorn on 2015-09-19:
See How do we transmit trajectories to our ABB IRB 140 using the ABB Package for some info on how to add support for new robot models / variants.

Comment by jaam002 on 2015-09-19:
thanks so much, i hope in the next two weeks have an advance on it.

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