EGM Control for ABB irb120

Testing steps

Common steps (alternatively, run script run_example in pman):

1. Load an instance of roscore.

2. Open the position/velocity controller (e.g. example.py) which will publish the desired position or velocity to the ROS topic /commanded_pose:

    rosrun egm_control example.py
   

For each testing session:

1. Stop all previous running programs (local Python programs and in FlexPendant, pressing the Stop button).

2. In FlexPendant, select PP To Main and then press Yes.

3. Start the main program (EGMControl.py), either via pman or by typing:

    rosrun egm_control EGMControl.py
   

4. Press the Play button in the FlexPendant to start the RAPID code.

In order to cancel the execution of EGMControl.py, either:

• Press Ctrl+C on the terminal.
• Stop it via pman.
• Set ROS parameter egm_status to 0.
• Press the Stop button in the FlexPendant (not recommended).