Working with MoveIt configuration for ABB robots
We will work with two of the most popular ABB industrial robot models: IRB 2400 and IRB 6640. The following are photographs of these two robots and their specifications:
Figure 15.12 – ABB IRB 2400 and IRB 6640
The specifications of these robotic arms are given in the following table:
Figure 15.13 – ABB IRB robot properties
To work with ABB packages, clone the ROS packages of the robot into the catkin workspace. We can use the following command to do this task:
git clone https://github.com/ros-industrial/abb
Then, build the source packages using catkin_make. Actually, this package mainly contains configuration files, so nothing related to C++ code needs to be compiled. However, in the abb folder, we have a particular package defining kinematic plugins to speed up the inverse kinematic calculation. More details on this topic will be provided in the next section.
