ROS packages for the ABB YuMi (IRB14000) robot, Noetic version

• This fork is modified from kth-ros-pkg/yumi for controlling Yumi with ROS Noetic.
• For the original document and instructions, please check the wiki.
• Currently, this version is configured to use RWS to communicate. A tested backup firmware is under yumi_firmware_backup. You can use it to restore the system configuration.

Configuration

• Install the following packages

   sudo apt-get install \
           python3-pip \
           protobuf-compiler \
           protobuf-c-compiler \
           ros-$ROS_DISTRO-control-toolbox \
           ros-$ROS_DISTRO-controller-interface \
           ros-$ROS_DISTRO-controller-manager \
           ros-$ROS_DISTRO-effort-controllers \
           ros-$ROS_DISTRO-force-torque-sensor-controller \
           ros-$ROS_DISTRO-gazebo-ros-control \
           ros-$ROS_DISTRO-joint-limits-interface \
           ros-$ROS_DISTRO-joint-state-publisher \
           ros-$ROS_DISTRO-joint-state-controller \
           ros-$ROS_DISTRO-joint-trajectory-controller \
           ros-$ROS_DISTRO-moveit-commander \
           ros-$ROS_DISTRO-moveit-core \
           ros-$ROS_DISTRO-moveit-planners \
           ros-$ROS_DISTRO-moveit-ros-move-group \
           ros-$ROS_DISTRO-moveit-ros-planning \
           ros-$ROS_DISTRO-moveit-ros-visualization \
           ros-$ROS_DISTRO-moveit-simple-controller-manager \
           ros-$ROS_DISTRO-position-controllers \
           ros-$ROS_DISTRO-rqt-joint-trajectory-controller \
           ros-$ROS_DISTRO-transmission-interface \
           ros-$ROS_DISTRO-velocity-controllers 
  
   pip3 install --user pyftpdlib
   pip3 install --user --upgrade pyassimp
  
   sudo apt install ros-$ROS_DISTRO-hector-xacro-tools
  

• Compile abb_driver

   cd $HOME/catkin_ws
  
   git clone -b melodic-devel https://github.com/ros-industrial/abb_driver.git src/abb_driver
  
   rosdep update
  
   rosdep install --from-paths src/ --ignore-src --rosdistro noetic
  
   catkin build
  

• Compile industrial_core

   cd $HOME/catkin_ws
  
   git clone -b melodic-devel https://github.com/ros-industrial/industrial_core.git src/industrial_core
  
   rosdep update
  
   rosdep install --from-paths src/ --ignore-src --rosdistro noetic
  
   catkin build
  

• If you encounter Gazebo error:

   RLException: Invalid <param> tag: Cannot load command parameter [robot_description]: no such command [['/opt/ros/noetic/share/xacro/xacro.py'
  

  Modify your launch file (e.g.,yumi_gazebo_pos_control.launch)

  Change <param name="robot_description" command="$(find xacro)/xacro.py to <param name="robot_description" command="$(find xacro)/xacro

  Reference: （ROSの勉強　第23弾：チェスセットのモデル作成）

Moving the Robot

Controlling the robot is primarily done through actionlib, and an example script showing how to control it thorugh rospy can be found in example_script/bimanual_move. To test this out for youself, first launch the rws_gazebo.launch file in the yumi_launch files in one terminal, and run the bimanual_move script in another.

First, launch rws_gazebo

roslaunch yumi_launch rws_gazebo.launch

Next, run bimanual_move

python src/yumi/example_script/bimanual_move.py