This is a meta-package containing everything to run an ABB robot with OMNICORE controller with ROS 2.

• abb_bringup: Launch files and ros2_control config files that are generic to many types of ABB robots.
• abb_hardware_interface: A ros2_control hardware interface using abb_libegm.
• robot_specific_config: Packages containing robot description and config files that are unique to each type of ABB robot.
• abb_resources: A small package containing ABB-related xacro resources.
• docs: More detailed documentation.
• robot_studio_resources: Code and a pack-and-go solution to begin using RobotStudio easily.
• abb_ros2: A meta-package that exists to reserve the repo name in rosdistro

sudo apt update
sudo apt dist-upgrade
rosdep update
mkdir -p ros2_ws/src && cd ros2_ws/src
git clone https://github.com/cmu-mfi/abb_omnicore_ros2.git -b omnicore
vcs import < abb_omnicore_ros2/abb.repos
rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y

Build the package:

cd ros2_ws
colcon build

Verify using RViz to view and control simulation robot:

ros2 launch abb_bringup abb_bringup.launch.py sim:=true robot_type:=irb1300_7_140 robot_class:=irb1300

• The controller must have RWS 2.0 and EGM option installed and enabled.

• Follow the guides below to setup your controller:

  • Robot Studio Setup Guide
  • Network Configuration
  • Troubleshooting

• Test with following:

ros2 launch abb_bringup abb_bringup.launch.py sim:=false robot_type:=irb1300_7_140 robot_class:=irb1300 robot_ip:=<controller_ip_address>

![Note] The repository currently does not support MultiMove.

This package has a pre-commit check that runs in CI. You can use this locally and set it up to run automatically before you commit something. To install, use pip:

pip3 install pre-commit

To run over all the files in the repo manually:

pre-commit run -a

To run pre-commit automatically before committing in a local repo, install git hooks:

pre-commit install