COMPAS RRC: ROS driver

ROS package for the COMPAS RRC driver for ABB robots.

Usage

Docker

The easiest option to use the ROS package is via Docker:

• Download the docker-compose.yml file to your computer

• To use it with a virtual controller (ABB RobotStudio) on the same computer, no further changes are needed.

• To use it with a real robot, update the robot's IP address in docker-compose.yml file (e.g. robot_ip:=192.168.0.100)

• To use it in other scenarios, check the examples folder.

• Run docker compose up:

  $ docker-compose up
  

• Start the robot controller(s).

Linux

If you prefer to use a ROS installation on Linux:

• On the terminal, change to your catkin workspace source folder:

  $ cd ~/catkin_ws/src/
  

• Clone this repository:

  $ git clone https://github.com/compas-rrc/compas_rrc_ros.git
  

• Build your workspace (e.g. using catkin_make):

  $ cd ~/catkin_ws
  $ catkin_make
  

• Source your workspace:

  $ source ~/catkin_ws/devel/setup.bash
  

• Launch the driver using one of the provided launch files, e.g.:

  $ roslaunch compas_rrc_driver bringup.launch robot_ip:=127.0.0.1 robot_streaming_port:=30101 robot_state_port:=30201
  

Launch file parameters

The launch files have the following parameters available:

• robot_ip: [mandatory] IP address of the robot.
• robot_streaming_port: [optional, default=30101] TCP port of the streaming interface of the robot.
• robot_state_port: [optional, default=30201] TCP port of the state interface of the robot.
• sequence_check_mode: [optional, default=none] Sequence check mode, valid options are: none, all, incoming, outgoing
• namespace: [optional, default='/'] Allows to define a namespace in order to connect to multiple robots on the same instance. Defaults to root (/).

License

This project is licensed under the terms of the MIT License.