Can ROS be used with controller R30iB

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The fanuc_driver page has this to say on compatibility with the R-30iA and R-30iB (under Overview):

These programs should work on most Fanuc controller cabinets, provided they support a relatively recent version of Karel (system V7.20 and up). The driver is manipulator agnostic, and is expected to work with all Fanuc manipulators that can be controlled by R-30iA and R-30iB cabinets (older controllers will require changes to the driver, but can be made to work).

So yes, it should work.

That page also has information on the required software options that your controller needs to have installed. See the fanuc_driver/Tutorials pages for installation and setup instructions.