Understanding the ROS-Industrial robot support packages
The ROS-I robot support packages are a new convention followed for industrial robots. The aim of these support packages is to standardize the ways of maintaining ROS packages for a wide variety of industrial robot types of different vendors. Because of the standardized way of keeping files inside support packages, we don't have any confusion in accessing the files inside them. We can demonstrate a support package of an ABB robot and can see the folders and files and their uses.
We have already cloned the ABB robot packages, and inside this folder, we can see three support packages that support three varieties of ABB robots. Here, we are taking the ABB IRB 2400 model support package: abb_irb2400_support. The following list shows the folders and files inside this package:
config: As the name of the folder, this contains the configuration files of joint names, RViz configuration, and robot model-specific configuration...