sloretz / abb_ros2

This is a meta-package containing everything to run an ABB robot or simulation with ROS 2.

• abb_bringup: Launch files and ros2_control config files that are generic to many types of ABB robots.
• abb_hardware_interface: A ros2_control hardware interface using abb_libegm.
• abb_rws_client: A package containg nodes for RWS only communication.
• robot_specific_config: Packages containing robot description and config files that are unique to each type of ABB robot.
• abb_resources: A small package containing ABB-related xacro resources.
• docs: More detailed documentation.
• robot_studio_resources: Code and a pack-and-go solution to begin using RobotStudio easily.
• abb_ros2: A meta-package that exists to reserve the repo name in rosdistro

Getting Started:

There are three ways to use this package:

• With an actual, physical ABB robot

• With ROS 2 simulating the robot controllers

• With an ABB RobotStudio simulation. Requires 2 PC's (one Windows, one Linux)

Detailed setup instructions can be found here.

Limitations:

The IRB1200-5-0.9 is the only robot that has robot description and config files as of March 2022. Pull requests to add additional robot types are welcome.

Contributing

pre-commit Formatting Checks

This package has a pre-commit check that runs in CI. You can use this locally and set it up to run automatically before you commit something. To install, use pip:

pip3 install pre-commit

To run over all the files in the repo manually:

pre-commit run -a

To run pre-commit automatically before committing in a local repo, install git hooks:

pre-commit install