This project aims to control abb yumi(irb14400) robot using ros control interface so that you can send joint trajectory command to. Also we implemented a cartesian velocity controller using KDL library.
Install all of these:
sudo apt-get install ros-kinetic-control-toolbox ros-kinetic-controller-interface ros-kinetic-controller-manager ros-kinetic-joint-limits-interface ros-kinetic-transmission-interface ros-kinetic-moveit-core ros-kinetic-moveit-planners ros-kinetic-moveit-ros-planning ros-kinetic-velocity-controllers ros-kinetic-joint-state-controller
clone jjhu1993's fork of the package from: https://github.com/JJHu1993/industrial_core.git into your ros workspace
A comprehensive suite of sample and tutorial applications are provided in the /abb_control_example subdirectory. For new users, it is best to review the folder to control the robot.
The project is written in standards-conforming C++11 and relies only on the C89 ABI for its public interface. It is developed and tested on the following platforms:
- Ubuntu 16.04 LTS (GCC 5.4 toolchain)
1.abb yumi(irb14400)
abb_yumi is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
abb_yumi is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with abb_yumi. If not, see <http://www.gnu.org/licenses/>.