abb_cam Repository

This repository includes adapted ROS interface for 2 ABB manipulators (IRB2600/IRB120)

Content

1. ABB IRB2600
2. ABB IRB120

Dependencies

• ROS Industrial Core

ABB IRB2600

ROS packages

Launch ROS Interface

To enable ROS interface, run:

roslaunch abb_irb2600_support robot_interface_download_irb2600_12_165.launch robot_ip:=[robot IP]

or include the above launch file:

<include file="$(find abb_irb2600_support)/launch/robot_interface_download_irb2600_12_165.launch" >
    <arg name="robot_ip" value="192.168.10.26"/>
</include>

ROS Interface

• Current joint states: (ROS topic)
  /irb2600/joint_states
• Send spline in joint space: (ROS topic)
  /irb2600/joint_path_command
• Send spline in joint space: (ROS action)
  /irb2600/joint_trajectory_action

ABB IRB120

ROS packages