razthepsycho/abb_irb140_packages_ros

ROS-Industrial Packages for ABB IRB140 Interface

ABB_IRB140_PACKAGES_ROS

This packages are a result of an extensive robotics research work from Universidad EIA, Antioquia, Colombia.

This Repository include 4 packages for various ways of interfacing with an ABB IRB140 Robotic Manipulator.

The packages are meant to be installed in the src folder inside a catkin workspace linked with ROS.

*ABB_IRB140_SUPPORT:

ROS-Industrial and MoveIT support for the ABB IRB140.

This packages contains configuration data, 3D models and launch files for ABB IRB 140 manipulator.

Joint limits and max joint velocities are based on the information in the ABB data sheets. All URDFs / XACROs are based on the default motion and joint velocity limits, unless noted otherwise (ie: no support for high speed joints, extended / limited motion ranges or other options).

Before using any of the configuration files and / or meshes included in this package, be sure to check they are correct for the ABB IRB140.

*ABB_IRB140_MOVEIT_CONFIG:

MoveIt package for the ABB IRB 2400.

An automatically generated package with all the configuration and launch files for using the ABB IRB 140 with the MoveIt Motion Planning Framework.

*ABB_DRIVER:

ROS-Industrial nodes for interfacing with ABB robot controllers.

This package is part of the ROS-Industrial program and contains nodes for interfacing with ABB industrial robot controllers.

*ABBROS:

This package contains an Open-Source graphical user interface for controlling the ABB IRB140.

This package has its own .URDF for interfacing with Rviz, due to OpenGL Coordinate system conflicts with the standard .URDF included in ABB_IRB140_SUPPORT.

INSTALLATION

NOTE: You MUST have catkin_ws folder already configured as your catkin workspace.

Download either the catkin_ws folder or the .zip file, and paste the catkin_ws folder inside the home directory, the file manager will ask you to combine the two folders, click combine and accept everything so the packages and other important files are copied in the right directories inside your catkin workspace.

Compile your catkin workspace again to make sure everything was copied correctly.