Support for RobotStatus.msg about abb HOT 14 CLOSED

This will be added by #145.

See wiki/abb/Tutorials/InstallServer - diff for the documentation that was added.

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@Samsagax, this seems like a good plan. Are you willing to implement it?

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Sure. The only question I have is if I Have to add a new message with different signature to the existing server? Or append the data to the current message?

Joaquín Ignacio Aramendía

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That definitely wasn't easy to track down (I should add it to the wiki). The message should be sent on the same connection as the joint states, but with a different ID, 13 (see here).

The header info should be similar to joint states (except with the different ID). The data payload should is described here

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I added an empty message for now, the problem is for reporting all that stuff, we need to instruct the user to configure some system parameters, I have the text for the wiki, but how I mark it as "experimental" or "in-development" feature?

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You could possibly use an admonition. I've used a few in the fanuc tutorials. If you don't want to include the icon bit, you could just use a coloured 'box' (like on the indigo landing page on the ROS wiki).

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Is documentation the main blocker here? I think the rapid code looks sane enough. I would just set all fields initially to tristate unknown (-1) instead of zeros.

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Guys. Sorry to be out of the radar for a while. I've switched jobs and I no longer have a real robot to test things on. Maybe I could write some code and someone can test it for me, or maybe I can convince my new boss to engage in development of new things involving ROS ;)

Hope I can be on track soon.

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Welcome back :). ABB Robot Studio is free to use, afaik, right?

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I don't think it is, but if @Samsagax is serious, we can see what we can do.

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On 12-1-2015 5:41, Shaun Edwards wrote:

I don't think it is, but if @Samsagax is serious, we can see what we can do.

Oh, right. It is a 30-day trial.

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Yes, it is a 30-day trial. And maybe i can use a virtual machine to test. The "hard" part is editing the robot configuration to get he info we need

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I've recently worked with an ABB robot and the lack of STATUS support was quite annoying. Even if (as @Samsagax writes) setting up the controller properly for this would be difficult, it would still be nice if we at least give users the option to do it.

Could we perhaps as a first iteration just send _tristate unknown_s (-1) for all fields? Than at least part of the infrastructure on the server side would be there.

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With the merge of #168 (rebased version of #145) this is now supported by the driver.

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