ROS implementation (URDF and setups) for simulation of 6DOF robot IRB140 from ABB using ros effort_controllers for each joint.
Author: Sebastian Realpe Rua, mainly for use in the robotics lab of Universidad Nacional de Colombia
With the help from:
https://github.com/FreddyMartinez/abb_irb140_support as a good starting point, helped to reduce initial setup work.
Run the following commands, currently only for ros-kinetic in ubuntu 16.04
cd ~/catkin_ws/src/
git clone https://github.com/GitSRealpe/irb140_ros_effort_control.git
cd ..
catkin_make
There are two options or environments to simulate the robot, RViz and Gazebo
Simply run roslaunch irb140_ros_effort_control irb140_rviz.launch
Simply run roslaunch irb140_ros_effort_control irb140_gazebo.launch