ROS_motionServer.mod - Receive robot motion commands ROS_stateServer.mod - Broadcast joint position and state data ROS_messages.sys - Implementation of specific message types ROS_socket.sys - Socket handling and simple_message implementation ROS_common.sys - Global variables and data types shared by all files Some modules are loaded to specific tasks, and others are shared between tasks, as described below: RobotStudio Online and USB drives are often convenient methods to transfer files to the controller. See the manufacturer's documentation for file-transfer methods. This tutorial assumes the files are copied to a " ROS" subdirectory under the system's HOME directory (e.g. Earlier versions may work, but will require modifications to the RAPID code.Īll files in the abb_driver/rapid (Indigo and later) directory should be copied to the robot controller.
RobotWare OS version 5.13 or later is required due to the use of certain socket options.
#Sync rapid with controller robotstudio Pc#
The following controller options are required:Ħ72-1: Socket Messaging (in recent RobotWare versions, this option is included with 616-1: PC Interface)
#Sync rapid with controller robotstudio code#
The code was originally tested on an IRC-5 controller, with an IRB-2400 robot, but other combinations should also work. The ABB ROS Server code is written in RAPID, using a socket interface and multiple parallel tasks. This tutorial has two parts: installing server code and configuring the controller with the appropriate tasks.
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