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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
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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?

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

gvdhoorn
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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.

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

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

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Last updated: Mar 14 '18

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

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