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Not able to connect to real robot #5
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I was able to solve the issue by myself. I forgot to add the code from the TRob1Main.mod file to the robots RAPID module. |
When you added .mod file, how did you load the module to the controller? I still keep getting the same error |
Put the TRob1Main on an USB stick, plug it into your robot (useually theres a usb slot on the control panel) and use it as your program. When you start this program you will see it searches for a device (your ROS PC) |
I have an ABB IRB2600 robot and a PC on which Ubuntu 22.04 and ROS2 Humble are installed.
I am trying to establish a connection between the ROS2 PC and the robot by using the following command:
ros2 launch ros2srrc_irb2600_bringup irb2600_bringup.launch.py
I have adapted the robot description and configuration files and renamed all files to fit my robot model.
After I have entered the command I receive the following response:
As you can see the general information of the robot is displayed but the ros2_control_node cannot connect to the robot.
Some things I tried or believe are important:
It seems that the egm_manager_ has to send a message in order to get a "Connected to robot" line. So maybe theres somethiong wrong with the EGM-connection? I also looked into the egm_manager.cpp file but I was not able to find something that helped me.
There are 2 other lines in my example which might cause the connection issues but I am not sure of that. The "spawner_joint_trajectory_controller" and the "spawner_joint_state_broadcaster" are waiting for '/controller_manager' services to be available. I don't know if the controller manager issue and the connection problem are related to each other but if one problem is solved the other might be too.
I searched for some other people who had the same problems and I also contacted the people who developed the ABB Driver but until now I wasn't able to solve my issue.
Maybe I can find help here :)
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