2. Joint debugging of ROS and ABB1600 robot (Robostudio simulation)

1 Introduction

This tutorial uses the simulated ABB1600 robot as the main body of the robot to realize the connection and use of ROS.

Simulation experiment conditions
1. A router or switch
2. A computer with windows system
3. A computer with Ubuntu system

2. Use Robostudio to create a virtual robot (please ignore the physical robot)

2.1 Create a robot

Step1: Open Robostudio, File->New->Empty Workstation Solution, as shown in the figure below, click Create after completing the settings.

step2: Basic -> robot model library, select robot 1600

step3: click OK

step4: Import the robot successfully

2.2 Virtual control cabinet

step1: Basic -> Robot System -> New System

step2: As shown in the figure below, select the RoboWare version number and robot model, check the custom option, and click OK.

step3: The system will jump to this interface.

step4: Here we need to choose two options to open, click on Communication 616-1 PC Interface and Engineering Tools 623-1 Multitasking


step5: The following are the options we open by default: the language can be changed to Chinese in the first item .

Step6: After completing the above settings, click OK and wait for roboStudio to complete the creation of the control cabinet.
After the creation is complete, you can see that there are some data parameters in the controller.

step7: Create a ROS folder in the Home folder

**step8:**Here, you need to enable the permission of Robostudio in the firewall on the windows side.

2.3 Copy files to robot virtual control cabinet

**step1:** Download the robot file from github, find the abb_driver/rapid folder, and copy the folder in the rapid directory to the robot controller. blue cloud download

The files that need to be copied are as follows, and their functions are:

ROS_common.sys             所有文件共享的全局变量和数据类型
ROS_socket.sys             套接字处理和simple_message实现
ROS_messages.sys           特定消息类型的实现
ROS_stateServer.mod        广播关节位置和状态数据
ROS_motionServer.mod       接收机器人运动命令
ROS_motion.mod             向机器人发出运动指令

Copy these 6 files to the ROS folder created above.

**step2:** Open ROS_socket.sys and change the following lines:

IF (SocketGetStatus(server_socket) = SOCKET_CREATED) SocketBind server_socket, GetSysInfo(\LanIp), port;

Replace GetSysInfo(\LanIp) with your computer's IP address. The IP address of my computer in the router is 192.168.1.101, and the IP address must use English double quotation marks . That is, replace it with
the IP address of the viewing computer

IF (SocketGetStatus(server_socket) = SOCKET_CREATED) SocketBind server_socket, “192.168.1.101”, port;

2.4 Create a task

Open the virtual robot created by RoboStudio

Open Configuration->Controller->Task, and create a new Task. The details of the creation are shown in the figure, in no particular order.

Name	Type	Trust Level	Entry	Motion Task
ROS_StateServer	SEMISTATIC	NoSafety	main	NO
ROS_MotionServer	SEMISTATIC	SysStop	main	NO
T_ROB1	NORMAL		main	YES

As shown below:

Note:
1. The T_ROB1 motion task may already exist on your controller.
2. If T_ROB1 has an existing motion control module, you may need to rename the main() routine in ROS_Motion.mod to ROS_main(). In this case, set the entry point of the T_ROB1 task to ROS_main().
3. For multi-robot controllers, specify the desired robot (eg rob1) for each task
4. SEMISTATIC tasks will be started automatically when the controller starts. They are visible, but not easy to see for troubleshooting. For debugging or development purposes, it may be necessary to set both ROS_*Server tasks to Type=NORMAL.

2.5 Create signal input and output

Open Controller → Configuration → I/O System → Signal and right click on New Signal

Name	Type of Signal
signalExecutionError	Digital Output
signalMotionPossible	Digital Output
signalMotorOn	Digital Output
signalRobotActive	Digital Output
signalRobotEStop	Digital Output
signalRobotNotMoving	Digital Output
signalRosMotionTaskExecuting	Digital Output

After the creation is complete, as shown in the figure:

2.6 Connecting Signals to System Outputs

Open Controller → Configuration → I/O System → System Output and right click on New System Output

Signal Name	Status	Arg 1	Arg 2	Arg 3	Arg 4
signalExecutionError	Execution Error	N/A	T_ROB1	N/A	N/A
signalMotionPossible	Runchain OK	N/A	N/A	N/A	N/A
signalMotorOn	Motors On State	N/A	N/A	N/A	N/A
signalRobotActive	Mechanical Unit Active	ROB_1	N/A	N/A	N/A
signalRobotEStop	Emergency Stop	N/A	N/A	N/A	N/A
signalRobotNotMoving	Mechanical Unit Not Moving	ROB_1	N/A	N/A	N/A
signalRosMotionTaskExecuting	Task Executing	N/A	T_ROB1	N/A	N/A

After the creation is shown in the figure:

2.7 Configure modules to tasks

Open Controller → Configuration → Controller → Automatic Loading of Modules and right click on New Automatic Loading of Modules

File	Task	Installed	All Tasks	Hidden
HOME:/ROS/ROS_common.sys		NO	YES	NO
HOME:/ROS/ROS_socket.sys		NO	YES	NO
HOME:/ROS/ROS_messages.sys		NO	YES	NO
HOME:/ROS/ROS_stateServer.mod	ROS_StateServer	NO	NO	NO
HOME:/ROS/ROS_motionServer.mod	ROS_MotionServer	NO	NO	NO
HOME:/ROS/ROS_motion.mod	T_ROB1	NO	NO	NO

After the change, as shown in the figure:

2.8 Some other detailed configurations

In step1, change the operation mode to continuous in RAPID, so that the program module can be executed in a continuous cycle.

step2 robot manual and automatic selection, after the configuration is complete, select automatic or manual start.
Manual configuration

Automatic configuration:

After step3 selection is complete, restart the controller and apply the changes.
Restart the controller
ABB using P-Start → Restart → Advanced → P-Start → OK

2.9 ABB internally starts the ROS connection program

Step1: After the startup is complete, open the teach pendant, you can see something like this:

Start T_ROB1 during the following operations.

step2: Click on the teach pendant -> program editor

step3: Debug -> PP to Main -> start the program button

step4: After the startup is successful, all three tasks are started, and you can wait for ROS to connect to the ABB simulation robot.

A log of output messages can be viewed here.

step5: Here it is recommended to modify the joint speed of the robot.

At this point, you can already wait for the connection of the ROS system.