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ROS packages for the ABB YuMi (IRB14000) robot, Noetic version

  • This fork is modified from kth-ros-pkg/yumi for controlling Yumi with ROS Noetic.
  • For the original document and instructions, please check the wiki.
  • Currently, this version is configured to use RWS to communicate. A tested backup firmware is under yumi_firmware_backup. You can use it to restore the system configuration.

Configuration

  • Install the following packages

     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 

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

 sudo apt install ros-$ROS_DISTRO-hector-xacro-tools

  • Compile abb_driver

     cd $HOME/catkin_ws

 git clone -b melodic-devel https://github.com/ros-industrial/abb_driver.git src/abb_driver

 rosdep update

 rosdep install --from-paths src/ --ignore-src --rosdistro noetic

 catkin build

  • Compile industrial_core

     $ cd $HOME/catkin_ws

 $ git clone -b melodic-devel https://github.com/ros-industrial/industrial_core.git src/industrial_core

 $ rosdep update

 $ rosdep install --from-paths src/ --ignore-src --rosdistro noetic

 $ catkin build

  • If you encounter Gazebo error:

     RLException: Invalid <param> tag: Cannot load command parameter [robot_description]: no such command [['/opt/ros/noetic/share/xacro/xacro.py'

    Modify your launch file (e.g.,yumi_gazebo_pos_control.launch)

    Change <param name="robot_description" command="$(find xacro)/xacro.py to <param name="robot_description" command="$(find xacro)/xacro

    Reference: （ROSの勉強　第23弾：チェスセットのモデル作成）