Ask Your Question
0

Is it possible to send a costum message via simple message instead of a trajectory message?

asked 2018-03-14 09:37:34 -0500

moebama gravatar image

I'm working on a connection between the abb yumi robot. I know that the simple message connection needs a client on the robot controller and a ros server, that sends the data. Therefore I want to edit the rapid modules. Anyways refering to the title, I just noticed that the Robot Client is used to send trajectories. Is there any way to send a modified message to the rapid server?

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
0

answered 2018-03-14 09:46:09 -0500

gvdhoorn gravatar image

I just noticed that the Robot Client is used to send trajectories. Is there any way to send a modified message to the rapid server?

This requires a nuanced answer.

Yes, it is possible, if you're willing to edit the sources of abb_driver and extend it to be able to deal with your new messages.

No, this is not possible with the current abb_driver binaries.

edit flag offensive delete link more

Comments

Thanks. I worked on that topic today and I know what I have to modify. I'm currently deciding, whether I use the Robot Client nodes and create a costumized message handler or create my own message downloader.

moebama gravatar image moebama  ( 2018-03-14 19:10:15 -0500 )edit

If I'm not mistaken both options would be about the same work, with the custom downloader needing both an additional socket as well as a bit more work.

gvdhoorn gravatar image gvdhoorn  ( 2018-03-15 02:30:04 -0500 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2018-03-14 09:37:34 -0500

Seen: 53 times

Last updated: Mar 14 '18