We can install the ABB robots packages by using the Debian package manager, or we can directly download these packages from the repository as follows:
$sudo apt-get install ros-kinetic-abb $git clone https://github.com/ros-industrial/abb
We can launch the ABB IRB 6640 in rviz for motion planning which is shown in screenshot below, using the following command:
$ roslaunch abb_irb6640_moveit_config demo.launch
Similarly, we can also launch the ABB IRB 2400 in rviz for motion planning, which is shown in the screenshot below, using the following command:
$ roslaunch abb_irb2400_moveit_config demo.launch ...