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ABB assumes no responsibility for any errors that may appear in this manual. To set up the ROS node (Fuerte only at the moment), copy abb_node to somewhere in your $ROS_PACKAGE_PATH.1 ABB Robotics Technical reference manual RAPID overviewĢ Trace back information: Workspace R12-2 version a4 Checked in Skribenta version 1171ģ Technical reference manual RAPID overview Document ID: 3HAC Revision: LĤ The information in this manual is subject to change without notice and should not be construed as a commitment by ABB.Note that you must either copy abb_node/packages/abb_comm/abb.py to your local directory or somewhere included in your PYTHONPATH environment.Before trying ROS, it's pretty easy to check functionality using the simple python interface.Try pinging the robot (default IP is 192.168.125.1).Verify that your computer is on the same subnet as the robot.Production Window->PP to Main, then press the play button.In SERVER.mod, check to make sure the "ipController" specified is the same as your robot.
For position feedback, install the RAPID module 'LOGGER' into another task.Using RobotStudio online mode is the easiest way to do this, check out the wiki article for details."Multitasking" (required for position feedback stream).
The second is a series of libraries to interact with the robot from remote computers, using several different control schemes. The first is a program which is written in the ABB robot control language, RAPID, which allows remote clients to send requests for actions (such as joint moves, cartesian moves, speed changes, etc.). Open-abb-driver consists of two main parts.
Open-abb-driver Control ABB robots remotely with ROS, Python, or C++ What is it?