abb-ros

ABB ROS node forked from MLab

Make it

clone it under catkin_ws and use catkin_make

Connect with controller

roslaunch robot_node mcubeSystem.launch

Run a series of joint configurations:

rosservice call /robot1_ClearJointPosBuffer
rosservice call -- /robot1_AddJointPosBuffer 0 0 0 0 90 0
rosservice call -- /robot1_AddJointPosBuffer 0 0 0 0 91 0
rosservice call -- /robot1_AddJointPosBuffer 0 0 0 0 89 0
rosservice call /robot1_ExecuteJointPosBuffer

Run a series of cartesian configurations:

rosservice call /robot1_ClearBuffer
rosservice call /robot1_SetSpeed 50 50 # apply to the following knot points until the next set speed.
rosservice call -- /robot1_AddBuffer 300 0 300 1 0 0 0    # x y z (mm) q0 qx qy qz
rosservice call -- /robot1_AddBuffer 300 0 301 1 0 0 0
rosservice call /robot1_SetSpeed 50 100
rosservice call -- /robot1_AddBuffer 300 0 300 1 0 0 0
rosservice call /robot1_ExecuteBuffer  # go through the whole trajectory

Note: Too small spacing between points may cause jerky motions. Try SetZone to higher value.

Set 24V IO signals:

rosservice call /robot1_IOSignal [output_num] [signal]  # output_num = 1,2,3,4; #signal 1:on 0:off
rosservice call /robot1_IOSignal 1 1  # signal output channel 1 to on
rosservice call /robot1_IOSignal 1 0  # signal output channel 1 to off