Add support for irb6700 robot#93
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maniente wants to merge 1 commit into
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Is this repo / driver dead? |
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Not dead, just stable. After adding the robot support, I've been actively using and testing it. It works perfectly for my current needs, so I just don't have any immediate plans or ideas for upgrades right now. |
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@maniente sorry, I meant this abb_ros2 repo you submitted this PR to - the last commit was a year ago, it's had open PRs and issues for 11 months, no answers or merges..... Think I will be getting my hands dirty and adding support for IRB2600's, for the two in my living room |
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Summary
This PR introduces support for the ABB IRB 6700 robot, expanding the library of available robot configurations in this repository.
Changes Made
Added URDF/Xacro files, visual meshes, and collision meshes for the IRB 6700.
Integrated the new robot into the robot_specific_config package structure.
Updated standard ROS 1 syntax to ROS 2 standards (including ros2_control tags).
Source & Methodology
The original meshes and foundational URDF data were pulled from the legacy ROS 1 ABB support repository. The conversion and adaptation of these assets to the modern ROS 2 architecture were completed with the assistance of Gemini 3.1 Pro.
Testing
[x] RobotStudio Simulation: The URDF and configurations have been successfully tested against an ABB RobotStudio simulation. Joint limits, kinematics, and orientations behave as expected.
Note to maintainers: I hope this helps expand the repository's capabilities!