ROS-Industrial robot driver package

In this section, we can discuss the industrial robot driver package. If we take the ABB robot as an example, it has a package called abb_driver. This package is responsible for communicating with the industrial robot controller. The package contains industrial robot clients and launches the file to start communicating with the controller.

We can check what's inside the abb_driver/launch folder. The following is a definition of a launch file called robot_interface.launch:

<launch>

  <!-- robot_ip: IP-address of the robot's socket-messaging server -->
  <arg name="robot_ip" />

  <!-- J23_coupled: set TRUE to apply correction for J2/J3 parallel linkage -->
  <arg name="J23_coupled" default="false" />

  <!-- copy the specified arguments to the Parameter Server, for use by nodes below -->
  <param name="robot_ip_address" type="str" value="$(arg robot_ip)"/>
  <param name="J23_coupled" type="bool" value="$(arg J23_coupled...