7. Deployment in a real Robot - GitSRealpe/abb_irb140_ros_sim GitHub Wiki

The focus of this project is the simulation and implementation of useful ROS tools like Moveit and its interface.

The main launch file to achieve this is moveit_planning_execution.launch file, it loads a similar Moveit configured package of the simulated one, but with some additional parameters to work with a real robot, like the IP address of the controller and joint names.

Connecting with ROS to the Robot

This process is achieved with the ROS packages done by each robot company, in the case of this project, it's the ROS packages for ABB robots, IRC5 controllers previous to the Robotware 6.08 version. You can find it here: abb_driver, read through its installation tutorials for the controller side setup process.

Using Moveit with the real robot

To connect to an ABB robot controller with the ROS driver installed just execute roslaunch irb140_moveit_real moveit_planning_execution.launch (using the right controller IP)

If this file is a little overwhelming you can checkout irb140_connection.launch, this is simpler one where we just connect to the controller using the abb_driver, ros-industrial and a socket connection. It doesn't bringup the Moveit framework so you can't request motion plans and move the robot easly, this launch only shows the connection part to the robot controller. Launch it executing: roslaunch irb140_ros_interface irb140_connection.launch