NOTE: This will erase any existing modules that have been loaded to memory. Copy the new/updated files onto the robot controller, as before.To update robot-server files with new code versions, use the following procedure to ensure that the changes are actually applied: (In RobotStudio 5, this is found under ABB → Control Panel → Configuration → Topics → Controller → Task)Īfter the last change, select YES to restart the controller and apply the changes. ROS_motion.mod - Issues motion commands to the robotīrowse to Controller tab → Configuration Editor → Controller → Task, then right-click New Task ROS_motionServer.mod - Receive robot motion commands ROS_stateServer.mod - Broadcast joint position and state data ROS_messages.sys - Implementation of specific message types ROS_socket.sys - Socket handling and simple_message implementation ROS_common.sys - Global variables and data types shared by all files Some modules are loaded to specific tasks, and others are shared between tasks, as described below: RobotStudio Online and USB drives are often convenient methods to transfer files to the controller. See the manufacturer's documentation for file-transfer methods.
This tutorial assumes the files are copied to a " ROS" subdirectory under the system's HOME directory (e.g. Earlier versions may work, but will require modifications to the RAPID code.Īll files in the abb_driver/rapid (Indigo and later) directory should be copied to the robot controller. RobotWare OS version 5.13 or later is required due to the use of certain socket options.
The following controller options are required:Ħ72-1: Socket Messaging (in recent RobotWare versions, this option is included with 616-1: PC Interface)
The code was originally tested on an IRC-5 controller, with an IRB-2400 robot, but other combinations should also work. The ABB ROS Server code is written in RAPID, using a socket interface and multiple parallel tasks. This tutorial has two parts: installing server code and configuring the controller with the appropriate tasks.
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