abb robotstudio [closed]
Hi, I connect a windows pc with robotstudio and other pc with Ubuntu running rviz with the abb robot model. When I launch the robot package with th ip address to the windows pc, rviz only recognize link_6 and tool0, but if I launch the robot package without ip address parameter recognize the kinematic chain complete (base_link to tool0). Anyone how to slove this problem??
Robotstudio version: 5.61 Ros distro: hydro
abb package: https://github.com/ros-industrial/abb
I use the abb robot package "irb_2400_moveit_config"
roslaunch irb_2400_moveit_config moveit_planning_execution.launch sim:=false robot_ip:="ip's windows PC"
Could you tell us which version of the ROS-Industrial ABB package you have installed (debians or from source)? How are you 'launching' the 'robot package' exactly? And which package do you start?
Ok. ROS-I program(s) have been started in Robotstudio? The fact that it works if you don't connect is that moveit_planning_execution uses the ROS-I simulator then, which runs locally. Network communication to "ip's windows PC" works (ie: you can ping the IP)? No firewalls?
The communication is ok and the rapid files are in robotstudio without problems. The error appears when I try to communicate with the windows pc.
Ok. From what you describe it looks like transforms for several links are missing. I'd try to increase the debugging level of the nodes involved, and / or sniff the network traffic between your windows and ROS pc (use wireshark, and https://github.com/ros-industrial/packet-simplemessage).
Also: you say 'the rapid files are in robotstudio without problems', but is the driver actually running on the simulated controller?
@rcj1986: have you been able to make any progress with this / solve it?