Working with MoveIt! configuration of ABB robots

We will work with two of the most popular ABB industrial robot models: IRB 2400 and IRB 6640. The following are the images of these two robots and their specifications:

Figure 10: ABB IRB 2400 and IRB 6640

The specification of these robotic arms is given in the following table:

Robot	IRB 2400-10	IRB 6640-130
Working radius	1.55 m	3.2 m
Payload	12 kg	130 kg
Weight	380 kg	1,310-1,405 kg
Footprint	723x600 mm	1,107 x 720 mm

 

To work with ABB packages, clone the ROS packages of the robot into the catkin workspace. We can use the following command to do this task:

$ git clone https://github.com/ros-industrial/abb

Then, build the source packages using catkin_make. Alternatively, we can also install packages using the Ubuntu/Debian package management system. However, to follow the reminder...