December 2015
Intermediate to advanced
480 pages
10h 19m
English
Content preview from Mastering ROS for Robotics ProgrammingBecome an O’Reilly member and get unlimited access to this title plus top books and audiobooks from O’Reilly and nearly 200 top publishers, thousands of courses curated by job role, 150+ live events each month,
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ROS-Industrial robot driver package
In this section, we can discuss the industrial robot driver package. If we take the ABB robot as an example, it has a package called abb_driver. This package is responsible for communicating with the industrial robot controller. The package contains industrial robot clients and launches the file to start communicating with the controller.
We can check what's inside the abb_driver/launch folder. The following is a definition of a launch file called robot_interface.launch:
<launch> <!-- robot_ip: IP-address of the robot's socket-messaging server --> <arg name="robot_ip" /> <!-- J23_coupled: set TRUE to apply correction for J2/J3 parallel linkage --> <arg name="J23_coupled" default="false" /> <!-- copy the specified ...
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