I'm also having issues with implementing the sample code. Would you be able show me an example of using the EGMControllerInterface to send and receive data for the pose mode as well as the joint mode?
#SYNC RAPID WITH CONTROLLER ROBOTSTUDIO CODE#
But I am not able to send any data and the RAPID code times out on the controller side. The RAPID sample EGM program is running in the controller, ROS computer IP address is configured as a UdpUC sensor device and I want to use the abb::egm::EGMControllerInterface class ( from abb_libegm) to write joint values to the controller using egm_interface.write method.
#SYNC RAPID WITH CONTROLLER ROBOTSTUDIO MANUAL#
I will of course do a sanity check and stream smooth position references through EGM.Īs per your instructions I have read the IRC5 Application manual and I am trying to follow your instructions on #15, I have the following problem -> I am currently trying to set up Externally Guided Motion instead of the abb_driver to get more real time response from the manipulator. I successfully used the abb_driver package to implement a ROS socket connection and send these trajectories to the robot but I encountered a latency which I cannot afford for my application. I am currently trying to send Moveit Joint Trajectories to the 6 axis ABB 1410 manipulator interfaced with the IRC5 controller running Robotware 6.06.01. Thank you for raising this issue! When you have a couple of minutes please help me through the situation that I am trying to solve.
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