Add support for RWS 2.0

[herrvonregen]

Hello everyone, a support for RWS 2.0 would be very nice to communicate with the new OmniCore controllers. I would like to work with my students on an implementation. Could you give me a small overview of the places where changes would be necessary?

[gavanderhoorn]

Thanks for the offer, that's always appreciated.

We have some internal work already towards RWS 2 compatibility, but cannot release that yet.

In the meantime, the NoMagicAi/abb_librws fork already has RWS 2 compatibility, in addition to some other nice improvements. I would suggest to collaborate with them.

We'll look into upstreaming those changes in the future (provided NoMagicAi is interested in that of course).

[gavanderhoorn]

It seems NoMagicAi has disabled the Issues tab on their fork (or haven't enabled it).

Perhaps @mkatliar could comment here?

[mkatliar]

We'll look into upstreaming those changes in the future (provided NoMagicAi is interested in that of course).

@gavanderhoorn of course we are interested!

[gavanderhoorn]

I have enabled issues on https://github.com/NoMagicAi/monomagic

is this a copy-pasta? That repository is probably private, and I assume it's not the fork we're discussing here :)

[mkatliar]

Sorry, wrong link. I have enabled issues on https://github.com/NoMagicAi/abb_librws, of course.

[herrvonregen]

Hey thanks for the feedback. I just pulled the version of @mkatliar but it seems that their is some problem with the tests. I can't build the version on the master branch. Gives me the following error:

/home/developer/workspace/build/abb_librws/abb_librws-test: symbol lookup error: /home/developer/workspace/build/abb_librws/abb_librws-test: undefined symbol: _ZN3abb3rws26extractDelimitedSubstringsERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEccc
CMake Error at /usr/share/cmake-3.16/Modules/GoogleTestAddTests.cmake:40 (message):
  Error running test executable.

    Path: '/home/developer/workspace/build/abb_librws/abb_librws-test'
    Result: 127
    Output:

It just build it with catkin build abb_librws. Do you have any advice @mkatliar?

[herrvonregen]

Nevermind.. should have cleaned the build directory beforehand..

[mkatliar]

@herrvonregen we encounter the same problem from time to time, so if you find why it happens and how to fix it please submit a PR.

[traversaro]

It seems that also https://github.com/JOiiNT-LAB/abb_wrapper contains a fork of abb_librws with support for OmniCore, even if it is not easy to say as the history of the abb_librws repo was not preserved.

[gavanderhoorn]

Hm. It would have been nice if those were just forks ..

@gialen / @ugoSimioni: what was your rationale for making disconnected copies? Collaboration is the main way we make progress, and disconnecting things like this goes against the OSS spirit.

[herrvonregen]

After a few quick tests, it looks to me like the version of JOiiNT is built on an outdated version of this repository. Unfortunately, this makes it almost impossible to simply replace/use it.

[pucciland95]

Hi guys,

we kept developing the repo from JOiiNT lab and it is now usable. We currently support Gofa and Yumi Single Arm with its SmartGrippers. I basically managed to create a ros_control pkg to control the robot and link it to MoveIt!. The repo has been tested with both robots. I leave the link hereafter: https://github.com/MerlinLaboratory/abb_wrapper

Hoping this repo can help someone, Cheers