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ROS package for connecting to ABB controllers via TCP/IP, featuring EGM mode via UDP.

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mcubelab/abb_robotnode

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ABB ROS robot node

ROS package for connecting to ABB robot controllers via TCP/IP, featuring EGM control mode via UDP. Compatible with 6 and 7 DOF ABB robots, including IRB 120, IRB 1600 and IRB 14000 (YuMi). Developed by the MCube Lab at MIT.

A minimal working environment for this package would be given by this Dockerfile:

FROM ros:kinetic-ros-base
RUN apt-get update && apt-get install -y libprotobuf-dev protobuf-compiler protobuf-c-compiler

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ROS package for connecting to ABB controllers via TCP/IP, featuring EGM mode via UDP.

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