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https://github.com/compas-rrc/compas_rrc_ros

ROS Package for the COMPAS RRC driver for ABB robots

https://github.com/compas-rrc/compas_rrc_ros

Science Score: 13.0%

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    CITATION.cff file
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    .zenodo.json file
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    Scientific vocabulary similarity
    Low similarity (9.5%) to scientific vocabulary

Keywords

abb compas-rrc docker ros
Last synced: 5 months ago · JSON representation

Repository

ROS Package for the COMPAS RRC driver for ABB robots

Basic Info
  • Host: GitHub
  • Owner: compas-rrc
  • License: mit
  • Language: Python
  • Default Branch: main
  • Homepage:
  • Size: 219 KB
Statistics
  • Stars: 3
  • Watchers: 3
  • Forks: 4
  • Open Issues: 3
  • Releases: 3
Topics
abb compas-rrc docker ros
Created almost 7 years ago · Last pushed about 1 year ago
Metadata Files
Readme License

README.md

COMPAS RRC: ROS driver

COMPAS RRC

ROS package for the COMPAS RRC driver for ABB robots.

Usage

Docker

The easiest option to use the ROS package is via Docker:

  • Download the docker-compose.yml file to your computer
  • To use it with a virtual controller (ABB RobotStudio) on the same computer, no further changes are needed.
  • To use it with a real robot, update the robot's IP address in docker-compose.yml file (e.g. robot_ip:=192.168.0.100)
  • To use it in other scenarios, check the examples folder.

  • Run docker compose up:

    $ docker-compose up

  • Start the robot controller(s).

Linux

If you prefer to use a ROS installation on Linux:

  • On the terminal, change to your catkin workspace source folder:

    $ cd ~/catkin_ws/src/

  • Clone this repository:

    $ git clone https://github.com/compas-rrc/compasrrcros.git

  • Build your workspace (e.g. using catkin_make):

    $ cd ~/catkinws $ catkinmake

  • Source your workspace:

    $ source ~/catkin_ws/devel/setup.bash

  • Launch the driver using one of the provided launch files, e.g.:

    $ roslaunch compasrrcdriver bringup.launch robotip:=127.0.0.1 robotstreamingport:=30101 robotstate_port:=30201

Launch file parameters

The launch files have the following parameters available:

  • robot_ip: [mandatory] IP address of the robot.
  • robot_streaming_port: [optional, default=30101] TCP port of the streaming interface of the robot.
  • robot_state_port: [optional, default=30201] TCP port of the state interface of the robot.
  • sequence_check_mode: [optional, default=none] Sequence check mode, valid options are: none, all, incoming, outgoing
  • namespace: [optional, default='/'] Allows to define a namespace in order to connect to multiple robots on the same instance. Defaults to root (/).

License

This project is licensed under the terms of the MIT License.

Owner

  • Name: COMPAS RRC
  • Login: compas-rrc
  • Kind: organization

GitHub Events

Total
  • Push event: 2
  • Pull request event: 1
  • Create event: 1
Last Year
  • Push event: 2
  • Pull request event: 1
  • Create event: 1

Dependencies

requirements-dev.txt pypi
  • autopep8 *
  • catkin_pkg *
  • flake8 *
  • isort *
  • pytest *
.github/workflows/build-image.yml actions
  • actions/checkout v2 composite
  • docker/build-push-action v1 composite
.docker/dev-container/docker-compose.yml docker
  • compasrrc/compas_rrc_driver v1.1.2
Dockerfile docker
  • ros kinetic-ros-core build
setup.py pypi