https://github.com/compas-rrc/compas_rrc_ros

ROS Package for the COMPAS RRC driver for ABB robots
https://github.com/compas-rrc/compas_rrc_ros

abb compas-rrc docker ros

Last synced: 4 months ago
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ROS Package for the COMPAS RRC driver for ABB robots

• Host: GitHub
• URL: https://github.com/compas-rrc/compas_rrc_ros
• Owner: compas-rrc
• License: mit
• Created: 2019-02-22T10:09:58.000Z (over 7 years ago)
• Default Branch: main
• Last Pushed: 2025-01-07T10:59:10.000Z (over 1 year ago)
• Last Synced: 2025-09-10T05:03:05.217Z (9 months ago)
• Topics: abb, compas-rrc, docker, ros
• Language: Python
• Homepage:
• Size: 221 KB
• Stars: 3
• Watchers: 2
• Forks: 4
• Open Issues: 3
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# COMPAS RRC: ROS driver

![COMPAS RRC](images/compas_rrc.png)

> ROS package for the COMPAS RRC driver for ABB robots.

## Usage

### Docker

The easiest option to use the ROS package is via Docker:

* Download the `docker-compose.yml` file to your computer

* To use it with a virtual controller (ABB RobotStudio) on the same computer, no further changes are needed.

* To use it with a real robot, update the robot's IP address in `docker-compose.yml` file (e.g. `robot_ip:=192.168.0.100`)

* To use it in other scenarios, check the [examples](examples) folder.

* Run docker compose up:

      $ docker-compose up

* Start the robot controller(s).

### Linux

If you prefer to use a ROS installation on Linux:

* On the terminal, change to your catkin workspace source folder:

      $ cd ~/catkin_ws/src/

* Clone this repository:

      $ git clone https://github.com/compas-rrc/compas_rrc_ros.git

* Build your workspace (e.g. using `catkin_make`):

      $ cd ~/catkin_ws

      $ catkin_make

* Source your workspace:

      $ source ~/catkin_ws/devel/setup.bash

* Launch the driver using one of the provided launch files, e.g.:

      $ roslaunch compas_rrc_driver bringup.launch robot_ip:=127.0.0.1 robot_streaming_port:=30101 robot_state_port:=30201

## Launch file parameters

The launch files have the following parameters available:

* `robot_ip`: [*mandatory*] IP address of the robot.

* `robot_streaming_port`: [*optional*, `default=30101`] TCP port of the streaming interface of the robot.

* `robot_state_port`: [*optional*, `default=30201`] TCP port of the state interface of the robot.

* `sequence_check_mode`: [*optional*, `default=none`] Sequence check mode, valid options are: `none`, `all`, `incoming`, `outgoing`

* `namespace`: [*optional*, `default='/'`] Allows to define a namespace in order to connect to multiple robots on the same instance. Defaults to root (`/`).

## License

This project is licensed under the terms of the [MIT License](/LICENSE).