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README.md

abb_rws_state_publisher

Please note that this package has not been productized, and that academia is the intended audience.
The package is provided "as-is", and as such no more than limited support can be expected.

Overview

The abb_rws_state_publisher package provides a ROS node that:

  1. Attempts to connect to an ABB robot controller via the Robot Web Services (RWS) interface.
  2. Collects information from the controller about the current system, for example:
    • RobotWare version and present options.
    • Configured mechanical unit groups (e.g. robots and external axes).
    • Configured RAPID tasks.
  3. Starts to periodically poll the controller for runtime data, parse the collected data into ROS messages and publish them to the ROS system.

Some of the data published to the ROS system include:

  • General system states:
    • If motors are on/off.
    • If auto/manual operation mode is active.
    • If RAPID execution is running/stopped.
    • State of each RAPID task.
    • State of each mechanical unit.
  • Joint positions of each mechanical unit.
  • Runtime state of each RAPID program instance of the RobotWare StateMachine Add-In:
    • Only collected and published if the StateMachine Add-In is present in the system.

Please see the rws_state_publisher.launch file for how to start the node and available node parameters.

Requirements

  • RobotWare version 6.07.01 or higher (less than 7.0).

Please see the underlying abb_libegm and abb_librws packages for more details.

Troubleshooting

The following table is non-exhaustive, but it should at least give some ideas for things to check.

Issue Check
Authentication The node is currently hardcoded to use the default RWS login (Default User and robotics), but this can be changed in the code if needed.
Communication Verify that the correct IP-address has been specified for the robot controller, and that it can be reached on the network:
  1. Using ping <IP-address>.
  2. Using a web browser with http://<IP-address>/rw?debug=1, which will show a login prompt if connected (e.g. use the default login above).
RobotStudio RobotStudio simulations blocks remote RWS connections by default, which is shown by the RAPI Unidentified Error message (e.g. when using a web browser).

Please see this post on the official RobotStudio forum for how to allow remote RWS connections.

Acknowledgements

ROSIN Project

rosin_logo The core development has been made within the European Union's Horizon 2020 project: ROSIN - ROS-Industrial Quality-Assured Robot Software Components (see http://rosin-project.eu for more info).

eu_flag The ROSIN project has received funding from the European Union's Horizon 2020 research and innovation programme under grant agreement no. 732287.

The opinions expressed here reflects only the author's view and reflects in no way the European Commission's opinions. The European Commission is not responsible for any use that may be made of the contained information.

Special Thanks

Special thanks to gavanderhoorn for guidance with open-source practices and conventions.