Subscribe to existing PoseStamped topic and send to RobotStudio

[sharpworks-dev]

Hello, this is my first post ever and I am very new to ROS so apologies if I am missing any obvious info.

I am working on a ROS project where I have a Unity scene set up with a ROS-TCP-Connector that is sending PoseStamped messages on a topic I've called "teleop". These messages are received by an Ubuntu virtual machine using ROS-TCP-Endpoint on the same computer via a bridged connection.

I would now like to use this package to subscribe to this topic, receive those PoseStamped messages, and send them to RobotStudio to control our robot there. As I said, I am very new to ROS and also unfamiliar with C++, so I tried looking at the code samples provided here but I just can't wrap my head around them.

Could someone guide me on how to modify the nodes or write a new node that can accomplish this?

[gavanderhoorn]

I would perhaps suggest to post this on the abb_robot_driver discussion board.

EGM is a very low-level interface to the controller, and while what you describe could be implemented with it, seeing as you are already using ROS, you might instead want to reuse abb_robot_driver.

Note: you write you have PoseStamped messages. You will have to put those through an IK solver to get the corresponding joint space poses. You could then publish those joint space poses to an instance of the ros_control JointGroupPositionController.

Note 2: requirements on motion smoothness, continuity and collision checking will be for you to satisfy. If you're going with the JointGroupPositionController, it will not do anything "smart", so be aware of that.