# Revision history [back]

I don't use ABB robots and don't know, but cursory googling would tell me:

1. That package you linked does not seem to advertise a FollowJointTrajectory action or equivalent, so you won't be able to use that with MoveIt. Looks like you can use it to connect to your robot even without ROS though.

2. http://wiki.ros.org/abb_driver is the driver that will let you use MoveIt.

3. You can always port the ROS1 driver to ROS2 and publish it. This is welcome and a common thing in the open-source ecosystem. You can post issues on their Github and/or Discourse if you're stuck. Feel free to just try it out.

I don't use ABB robots and don't know, but cursory googling would tell me:

1. That package you linked does not seem to advertise a FollowJointTrajectory action or equivalent, so you won't be able to use that with MoveIt. Looks like you can use it to connect to your robot even without ROS though.

2. http://wiki.ros.org/abb_driver is the driver that will let you use MoveIt.MoveIt. edit: Looks like https://github.com/ros-industrial/abb_robot_driver is the newer one.

3. You can always port the ROS1 driver to ROS2 and publish it. This is welcome and a common thing in the open-source ecosystem. You can post issues on their Github and/or Discourse if you're stuck. Feel free to just try it out.

edit: To clarify, it's always better to check if there are existing efforts. As noted in the comments, someone already posted this Github issue concerning a port to ROS2.