yumi_ros

ABB YuMi IRB 14000 ROS Architeture

This repo is a variant of the original KTH-RPL, that works with ROS-Noetic.

ROS Installation

Please follow the steps in ROS-wiki to install the corresponding ROS distribution.

• in my case Ubuntu 20.04: ROS-Noetic

Please read this wiki before to start.

Dependencies

sudo apt-get install \
        python3-pip \
        protobuf-compiler \
        protobuf-c-compiler \
        ros-$ROS_DISTRO-control-toolbox \
        ros-$ROS_DISTRO-controller-interface \
        ros-$ROS_DISTRO-controller-manager \
        ros-$ROS_DISTRO-effort-controllers \
        ros-$ROS_DISTRO-force-torque-sensor-controller \
        ros-$ROS_DISTRO-gazebo-ros-control \
        ros-$ROS_DISTRO-joint-limits-interface \
        ros-$ROS_DISTRO-joint-state-publisher \
        ros-$ROS_DISTRO-joint-state-controller \
        ros-$ROS_DISTRO-joint-trajectory-controller \
        ros-$ROS_DISTRO-moveit-commander \
        ros-$ROS_DISTRO-moveit-core \
        ros-$ROS_DISTRO-moveit-planners \
        ros-$ROS_DISTRO-moveit-ros-move-group \
        ros-$ROS_DISTRO-moveit-ros-planning \
        ros-$ROS_DISTRO-moveit-ros-visualization \
        ros-$ROS_DISTRO-moveit-simple-controller-manager \
        ros-$ROS_DISTRO-position-controllers \
        ros-$ROS_DISTRO-rqt-joint-trajectory-controller \
        ros-$ROS_DISTRO-transmission-interface \
        ros-$ROS_DISTRO-velocity-controllers \
        ros-$ROS_DISTRO-hector-xacro-tools

Then:

pip3 install --user pyftpdlib
pip3 install --user --upgrade pyassimp

Quick Start

mkdir -p ~/yumi_ws/src && cd ~/yumi_ws/src
git clone --recursive https://github.com/bhomaidan1990/yumi_ros.git
git clone https://github.com/ros-industrial/abb_driver.git
git clone https://github.com/ros-industrial/industrial_core.git
cd ..
rosdep install --from-paths src --ignore-src -r -y

Network Setup:

Please be sure to follow the Network Setup Instructions

Running the Robot

Please set the main pointer at the FlexPendant to main for the Rob_L and Rob_R tasks, then run them by presseng on the play button on the flexpendant lower right side for each of them (you can access them from Program Editor)

To run RVIZ with moveit:

• After you connect to YuMi (which should be running and motors on in Automatic mode):

cd ~/yumi_ws && catkin b -DCMAKE_BUILD_TYPE=RELEASE && . devel/setup.bash
cd src/yumi_ros/yumi_description/urdf/
rosrun xacro xacro yumi.urdf.xacro arms_interface:=VelocityJointInterface grippers_interface:=EffortJointInterface yumi_setup:=robot_centric -o yumi.urdf
roslaunch yumi_moveit_config myLaunch.launch