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Robot Operating System Cookbook by Kumar Bipin

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Getting ready

We have already cloned the ABB robot packages in the previous section, and inside the abb folder, we could see several support packages which support varieties of ABB robots, such as:

  • abb_irb2400_support
  • abb_irb4400_support
  • abb_irb5400_support
  • abb_irb6600_support
  • abb_irb6640_support

Here, we are taking the ABB IRB 2400 model support package called abb_irb2400_support as a case study. The following screenshot shows the top-level directory layout for a robot support package:

ABB IRB 2400 support packages

In short, the config directory contains files that keep information such as joint names, rviz configurations, or any other ...

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