ros-industrial/abb_librws

Add support for RWS 2.0

herrvonregen opened this issue · 12 comments

herrvonregen commented

Hello everyone,
a support for RWS 2.0 would be very nice to communicate with the new OmniCore controllers. I would like to work with my students on an implementation. Could you give me a small overview of the places where changes would be necessary?

gavanderhoorn commented

Thanks for the offer, that's always appreciated.

We have some internal work already towards RWS 2 compatibility, but cannot release that yet.

In the meantime, the NoMagicAi/abb_librws fork already has RWS 2 compatibility, in addition to some other nice improvements. I would suggest to collaborate with them.

We'll look into upstreaming those changes in the future (provided NoMagicAi is interested in that of course).

gavanderhoorn commented

It seems NoMagicAi has disabled the Issues tab on their fork (or haven't enabled it).

Perhaps @mkatliar could comment here?

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mkatliar commented

We'll look into upstreaming those changes in the future (provided NoMagicAi is interested in that of course).

@gavanderhoorn of course we are interested!

gavanderhoorn commented

I have enabled issues on https://github.com/NoMagicAi/monomagic

is this a copy-pasta? That repository is probably private, and I assume it's not the fork we're discussing here :)

mkatliar commented

Sorry, wrong link. I have enabled issues on https://github.com/NoMagicAi/abb_librws, of course.

herrvonregen commented

Hey thanks for the feedback. I just pulled the version of @mkatliar but it seems that their is some problem with the tests.
I can't build the version on the master branch. Gives me the following error:

/home/developer/workspace/build/abb_librws/abb_librws-test: symbol lookup error: /home/developer/workspace/build/abb_librws/abb_librws-test: undefined symbol: _ZN3abb3rws26extractDelimitedSubstringsERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEccc
CMake Error at /usr/share/cmake-3.16/Modules/GoogleTestAddTests.cmake:40 (message):
  Error running test executable.

    Path: '/home/developer/workspace/build/abb_librws/abb_librws-test'
    Result: 127
    Output:

It just build it with catkin build abb_librws. Do you have any advice @mkatliar?

herrvonregen commented

Nevermind.. should have cleaned the build directory beforehand..

mkatliar commented

@herrvonregen we encounter the same problem from time to time, so if you find why it happens and how to fix it please submit a PR.

traversaro commented

It seems that also https://github.com/JOiiNT-LAB/abb_wrapper contains a fork of abb_librws with support for OmniCore, even if it is not easy to say as the history of the abb_librws repo was not preserved.

gavanderhoorn commented

Hm. It would have been nice if those were just forks ..

@gialen / @ugoSimioni: what was your rationale for making disconnected copies? Collaboration is the main way we make progress, and disconnecting things like this goes against the OSS spirit.

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herrvonregen commented

After a few quick tests, it looks to me like the version of JOiiNT is built on an outdated version of this repository. Unfortunately, this makes it almost impossible to simply replace/use it.

pucciland95 commented

Hi guys,

we kept developing the repo from JOiiNT lab and it is now usable. We currently support Gofa and Yumi Single Arm with its SmartGrippers.
I basically managed to create a ros_control pkg to control the robot and link it to MoveIt!. The repo has been tested with both robots.
I leave the link hereafter: https://github.com/MerlinLaboratory/abb_wrapper

Hoping this repo can help someone,
Cheers

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