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verified publisher icon PickNikRobotics

Add IRB14000 (Yumi) support package

Open ggorjup opened this issue 8 months ago • 3 comments

Hello, this PR adds support for the IRB14000 (bimanual Yumi) robot.

The meshes and descriptions are adapted from yumi_crew/yumi, which I believe is based on kth-ros-pkg/yumi and OrebroUniversity/yumi. The description macros were restructured and modularized.

This package was tested with a simulated and real IRB14000 (bimanual Yumi) on RobotWare 6.16.0, with the SmartGripper and StateMachine add-in.

https://github.com/PickNikRobotics/abb_ros2/pull/79 is required to correctly resolve the joint names, since this is a system with multiple mechanical unit groups (two arms).

ggorjup avatar May 28 '25 09:05 ggorjup