The JOiiNT-LAB “abb_wrapper” packages are intended to ease the interaction between ABB OmniCore controllers and ROS-based systems, by providing ready-to-run ROS nodes.
More in detail, we provide the ROS node for the direct motion control of ABB robots via the Externally Guided Motion (EGM) interface, a framework to manage different controllers directly using ROS, and a set of utilities for the robots visualization through ROS, e.g. RVIZ.
This represents an important step for the integration of industrial robots, like the ABB GoFa, in the framework developed by the JOiiNT LAB to enable their application in our use cases.
