Re: [swri-ros-pkg-dev] ABB IRB 120

[Shaun Edwards]

Dinko

I assume you are talking about this page: http://ros.org/wiki/abb/Tutorials/InstallServer

Those are the software options that we needed (at the time). ABB changes it's options quite frequently. At one time, activating the Ethernet port was an option, although I think that's standard now.  I recommend you talk with your salesman. Explain what the driver uses, from the tutorial:

"The ABB ROS Server code is written in RAPID, using a socket interface and multiple parallel tasks. The code was originally tested on an IRC-5 controller, with an IRB-2400 robot, but other combinations should also work. The following controller options are required."

Your salesman should be able to tell you what you need.  If you need any clarification, don't hesitate to ask.  Also, if you find you need more options than are listed on the site, please let us know so we can update the tutorial.

Shaun

Sent from my mobile phone

On Jan 13, 2013, at 11:02 AM, dinko....@gmail.com wrote:

Hi everyone,

I have a simple question regarding the integration of the ABB IRB 120 robot arm into ROS. My uni bought a basic package (arm, irc5 and robotstudio). But it says in ROS industrial page that it requires multitasking and pc interface. Are these the only options that need to be enabled? I need this information in order to inform the uni stuff so thay can buy these options.

Thanks in advance,

Dinko

--
 
 

[Zoss, Jeremy K.]

Dinko,

 

Actually, that repository is a fork of the main repository.  I think it’s even marked as “deprecated”, and is probably not updated with the latest ROS-Industrial codebase.

 

The easiest way to install ROS-Industrial is from the binary debian packages.  If you prefer, you can install directly from the source repositories.  For now, these are mostly located on googleCode, but we are in the process of transitioning them to gitHub.  Installation from either source is described on this wiki page.

 

Once you have the code installed, I usually check things out in stages:

 

  1) Interact within rviz to verify the URDF is set up properly:

         a) roslaunch urdf_tutorial display.launch model:=<robot.urdf> gui:=True

         b) move the joint-sliders to verify the robot moves correctly

         c) especially check that the joint directions (pos vs. neg motion) and zero position are correct

 

  2) Run the planning scene in simulation mode to verify the arm_navigation (or moveit) package is configured correctly

         a) roslaunch myRobot_arm_navigation planning_scene_warehouse_viewer_myRobot.launch

         b) try planning a trajectory and executing it.  The virtual robot should move.

 

  3) Run the robot interface nodes to verify connectivity with the robot:

         a) roslaunch abb_common robot_interface.launch robot_ip:=<your robot’s IP address>

         b) rostopic echo joint_states  (should match the robot’s joint positions)

 

  4) Verify the arm_navigation environment mirrors the physical robot

         a) roslaunch myRobot_arm_navigation planning_scene_warehouse_viewer_myRobot_real.launch

         b) jog the physical robot around, and verify that the rviz model mirrors the physical robot correctly.

         c) make sure and test every joint, and check for unusual cases: wrap-around joints, limits, coupled-joints, etc.

 

  5) Execute an arm_navigation trajectory on the physical robot

         a) roslaunch myRobot_arm_navigation planning_scene_warehouse_viewer_myRobot_real.launch

         b) plan a trajectory in rviz pick something “safe”, like a small motion of joint 6.  Make sure and FILTER the trajectory.

         c) if the trajectory looks good, execute on the real robot

 

Once you’ve gotten through step 5, then you mostly have a robot ready to interact with all of the ROS planning tools, and the next steps will be up to your specific application.  If you run into any difficulties along the way, feel free to post back here (or on ROS Answers), and someone will try to help.

 

Good luck!

  Jeremy Zoss

  Southwest Research Institute

  (210) 522-3089

 

From: swri-ros...@googlegroups.com [mailto:swri-ros...@googlegroups.com] On Behalf Of Dinko Osmankovic
Sent: Friday, May 10, 2013 3:06 AM
To: swri-ros...@googlegroups.com
Subject: [swri-ros-pkg-dev] Re: ABB IRB 120

 

Hi Shaun,

I got everything on my robot (packages I needed). I recently run into your github repository https://github.com/evenator/swri-ros-pkg. Is this the good way to start, to clone this repository? And how to check whether everything runs ok? Is there any launch file included that simply sends some trajectory?

Thanks in advance,
Dinko

On Sunday, January 13, 2013 6:02:23 PM UTC+1, Dinko Osmankovic wrote:

Hi everyone,

I have a simple question regarding the integration of the ABB IRB 120 robot arm into ROS. My uni bought a basic package (arm, irc5 and robotstudio). But it says in ROS industrial page that it requires multitasking and pc interface. Are these the only options that need to be enabled? I need this information in order to inform the uni stuff so thay can buy these options.

Thanks in advance,

Dinko

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[Dinko Osmankovic]

Hi Jeremy,

Thank you very much for you support. I tested you commands and here's what I got:

1. This thing mostly works but rviz doesnt show any model. Probably some OpenGL/GLSL related issue, I still need to check it out. However, when I echo /joint_states topic for the irb_120.urdf model I found on github repo it seems its working. Also, when I run the third line (connecting to the robot) it seems it get /joint_states quite right.

2. Since I'm from mobile robotics and I'm just helping the industrial robotics team I'm probably not very familiar with this but I need to ask. Is there a topic where I can publish the command for the new values of joint state (something like /cmd_vel of type Twist)? I only need to test the connectivity and sending out commands to the robot. Is that even possible with this ABB driver? From what I could see the answer is no, but could you please confirm this for me?

I will try to solve this rviz issue in my ros-groovy-ubuntu setup just to get the working screen showing the robot model.


Thanks in advance,

Dinko Osmankovic

[Zoss, Jeremy K.]

Dinko,

 

ROS-Industrial robot interfaces listen on the “joint_path_command” topic for trajectory_msgs/JointTrajectory commands.  Sending a valid message on that topic should cause the robot to move.  These messages are sequences of joint waypoints that the robot moves through.  The trajectory should start at the robot’s current position.  If you prefer a higher-level interface, there is also an action server that supports the control_msgs::FollowJointTrajectory action.   This action takes a trajectory of the same format as above.

 

I would recommend checking things out thoroughly before issuing motion commands.  If you can’t use rviz, then it is acceptable to monitor the joint_states feedback as you have done, but this may be more tricky.  If your robot has a parallel linkage between joints 2 and 3, as many ABB robots do, you’ll need to set a parameter in the ABB launch file.  In this case, the reported joint angles may not match the ABB pendant joint-angles, as ROS is reporting the “true” joint angles from a kinematic perspective.

 

Just be careful when beginning motion commands, until you are sure that the robot is responding as expected.

 

Good luck!

  - Jeremy

 

From: swri-ros...@googlegroups.com [mailto:swri-ros...@googlegroups.com] On Behalf Of Dinko Osmankovic
Sent: Tuesday, May 14, 2013 6:25 AM
To: swri-ros...@googlegroups.com
Subject: [swri-ros-pkg-dev] Re: ABB IRB 120

 

Hi Jeremy,

--

[nish...@gmail.com]

HI,
     for me every thing till step 4 is going fine i am able to jog the robot and it is reflecting in rivz but in step 5 when i am planing it plans well then i exicute it then nothing is happening.

Thank you

[Shaun Edwards]

We need a little bit more info about the problem you are having.  However, the most likely culprit is that the robot is not in "auto" mode.

-Shaun

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[Nishok Sarvareddy]

thank you for your reply https://github.com/ros-industrial/abb/issues/41 this link my issue is exactly the same

 

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[Nishok Sarvareddy]

Thank you issue is solved thanks for ur help the link I posted had the solution thanks for rplying 

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[G.A. vd. Hoorn - 3ME]

On 24/02/15 11:44, Nishok Sarvareddy wrote:
> Thank you issue is solved thanks for ur help the link I posted had the
> solution thanks for rplying

Nishok: which bit of the issue comments worked for you?

There are multiple suggestions given in that issue, so it would be good
to know what exactly helped you.


Thanks,

Gijs

[Nishok Sarvareddy]

hi,

    this is the link https://github.com/ros-industrial/abb/issues/42

that helped me 

thank you.

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[G.A. vd. Hoorn - 3ME]

On 24/02/15 12:08, Nishok Sarvareddy wrote:
> hi,
> this is the link https://github.com/ros-industrial/abb/issues/42
> that helped me

Ok. So it was the bug described in issue 42.

Thanks

> On Tue, Feb 24, 2015 at 4:36 PM, G.A. vd. Hoorn - 3ME <
> g.a.van...@tudelft.nl> wrote:
>
>> On 24/02/15 11:44, Nishok Sarvareddy wrote:
>>
>>> Thank you issue is solved thanks for ur help the link I posted had the
>>> solution thanks for rplying
>>>
>>
>> Nishok: which bit of the issue comments worked for you?
>>
>> There are multiple suggestions given in that issue, so it would be good to
>> know what exactly helped you.
>>
>>
>> Thanks,
>>
>> Gijs
>>
>>
>> --
>> You received this message because you are subscribed to a topic in the
>> Google Groups "swri-ros-pkg-dev" group.
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>> topic/swri-ros-pkg-dev/PFkzFXJoKek/unsubscribe.
>> To unsubscribe from this group and all its topics, send an email to

>> swri-ros-pkg-d...@googlegroups.com.

[Nishok Sarvareddy]

yes thank you for the reply 

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