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Clone repo "abb_experimental" https://github.com/ros-industrial/abb_experimental
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Copy similar model and change names to 6700_175_305 (two urdf xacro files )
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Create .stl files for 3 links -> C:\IBOIS57_Code\Software\abb_experimental\abb_irb6700_support\meshes\irb6700_175_305\visual
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Create .stl files for low poly geometry -> C:\IBOIS57_Code\Software\abb_experimental\abb_irb6700_support\meshes\irb6700_175_305\collision
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Coordinates of each axis file -> C:\IBOIS57_Code\Software\abb_experimental\abb_irb6700_support\urdf\irb6700_175_305.xacro
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finish up the moveit config (https://gramaziokohler.github.io/compas_fab/latest/examples/03_backends_ros/08_ros_create_moveit_package_from_custom_urdf.html):
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start - reference file: C:\IBOIS57_Code\Software\abb_experimental\abb_irb6700_support\urdf\irb6700_175_305_macro
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self-collisions - skip
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virtual joints - Virtual joint Name: "fixed_base", Parent Frame name: "world"
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end effectors - skip
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passive joints - skip
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author information - write name and email
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configuration files - "/root/catkin_ws/src/abb_experimental/abb_irb6700_175_305_moveit_config" , then click generate package and manually place outside the
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check if the package is running in compas_fab, mainly you need to check if meshes are correctly rotating:
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cross check results of the IK solver against the values of RobotStudio (this could be done programmatically, using compas_fab to calculate IK solutions from frames and then using compas_rrc to control a RobotStudio virtual controller and verify that both are a match).
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submit a pull request to ROS-Industrial to add the new model to the upstream abb_experimental repository.
- create a new urdf in vs code and moveit: abb_irbt6004_670_support
- the mesh of the track has to load
- setting up urdf
- create repository "COMPAS_ABB6700_IRBT" -> https://github.com/ibois-epfl/COMPAS_ABB6700_IRBT/blob/main/docker-compose.yml
- create file docker-compose.yml
- install XLaunch, by download from
- compose docker, now the move it should open: https://sourceforge.net/projects/vcxsrv/
- create a new support package for the linear axis + the robot mounted on it
- reduce mesh size for the track and the robot
- setup a meeting with Fleischmann Philippe <fleischmann@arch.ethz.ch and put cc Gonzalo Casas for the robot studio