Mastering ROS for Robotics Programming - Second Edition

ROS-Industrial robot driver package

In this section, we will 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. This 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 ...