ROS 中 abb_experimental使用说明

abb_experimental使用说明

 

http://wiki.ros.org/abb_experimental

 

Installation

Asall the packages in this repository are experimental, they will not be releasedthrough the official channels and must be build from source after cloning intoa catkin workspace.

As this stack may depend on unreleasedchanges to the main abb stack, you mustcheckout the corresponding branch of the ABB stack (indigo-devel) from source as well.Using released packages from abb (ie:installed through apt-get) is explicitly not supported.

注意必须先进行一下配置和编译

In a catkin workspace:

cd/path/to/catkin_ws/src

 

# retrieve the latest development version of abb andabb_experimental

# NOTE: you MUST use the '-devel' version of abb

git clone -b indigo-devel https://github.com/ros-industrial/abb.git

git clone -b indigo-develhttps://github.com/ros-industrial/abb_experimental.git

以上注意要下载最新的包

 

cd /path/to/catkin_ws

 

# checking dependencies

rosdep install --from-paths src --ignore-src --rosdistro indigo

 

# building

catkin_make

 

# source this workspace (only if you don't have any others)

source/path/to/catkin_ws/devel/setup.bash

irb1600：roslaunchabb_irb1600_6_12_moveit_config demo.launch

irb120 ：  roslaunchabb_irb120_moveit_config demo.launch

irb2400 roslaunch abb_irb2400_moveit_config demo.launch

 

irb1600 所具有的关节及link