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RWSQuickStart.md

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Robot Web Services client

Overview

rws_client node starts services for commanding ABB robots via RWS interfaces and publishers for polling system data from robot controllers. This node contains the following parameters:

  • robot_ip - IP address to the robot controller's RWS server.
  • robot_port - Port number of the robot controller's RWS server.
  • robot_nickname - Arbitrary user nickname/identifier for the robot controller.
  • polling_rate - The frequency [Hz] at which the controller state is collected.
  • no_connection_timeout - Specifies whether the node is allowed to wait indefinitely for the robot controller during initialization.

To launch only RWS communication:

ros2 launch abb_bringup abb_rws_client.launch.py robot_ip:=<ROBOT_IP>

List of core services

Below is a list of core services for commanding the ABB robot via the RWS interface.

Service name Description
get_robot_controller_description Gets a description of the connected robot controller.
pp_to_main Sets all RAPID program pointers to respective main procedure. Starts all RAPID programs.
start_rapid Starts all RAPID programs.
stop_rapid Stop all RAPID programs.
set_motors_on/off Sets the motors on/off.
get/set_file_contents Gets/Sets the contents of a file.
get/set_io_signal Gets/Sets an IO-signal.
get/set_rapid_bool Gets/Sets a RAPID bool symbol.
get/set_rapid_dnum Gets/Sets a RAPID dnum symbol.
get/set_rapid_num Gets/Sets a RAPID num symbol.
get/set_rapid_string Gets/Sets a RAPID string symbol.
get/set_rapid_symbol Gets/Sets a RAPID symbol (in raw text format).
get/set_speed_ratio Gets/Sets the controller speed ratio (in the range [0, 100]) for RAPID motions.

List of RobotWare StateMachine Add-in services

Below is a list of services for operating a robot via the RWS interface with the RobotWare StateMachine Add-in installed.

Service name Description
run_rapid_routine Signals that custom RAPID routine(s) should be run for all RAPID programs.
set_rapid_routune Sets desired custom RAPID routine for a specific RAPID task.
get/set_egm_settings Gets/Sets EGM settings used by a specific RAPID task.
start_egm_joint Starts EGM joint motions for all RAPID programs.
start_egm_pose Starts EGM pose motions for all RAPID programs.
start_egm_stream Starts EGM position streaming for all RAPID programs.
stop_egm Stops EGM motions for all RAPID programs.
stop_egm_stream Stops EGM position streaming for all RAPID programs.
run_sg_routine Signals that SmartGripper command(s) should be run for all RAPID programs.
set_sg_command Sets desired SmartGripper command for a specific RAPID task.