This repo contains a Gazebo simulation for ROS Kinetic of the ABB IRB120 6-axis industrial robot with a Robotiq 85 2-finger gripper, as seen in the picture:

ABB IRB 120 with Robotiq 85 gripper	ABB IRB 120 with gripper + Kinect camera

The ABB IRB120 Gazebo simulation is taken from the ROS-Industrial ABB experimental metapackage. Clone it to your catkin_ws using the kinetic-devel branch:

cd catkin_ws/src
git clone https://github.com/ros-industrial/abb_experimental.git

The previous ABB experimental metapackage may depend of the main ROS-Industrial ABB stack. Please clone its kinetic-devel branch:

git clone https://github.com/ros-industrial/abb.git

The Gazebo simulation for the Robotiq85 gripper is taken from the repo provided by Stanley Innovation. Clone it to your catkin_ws and build it:

git clone https://github.com/StanleyInnovation/robotiq_85_gripper.git

Once you have installed the previous packages, clone this one, build your catkin_ws and source the setup.bash:

git clone https://github.com/diegomrt/irb120_robotiq85.git
cd ..
source devel/setup.bash

Launch the basic Gazebo simulation, including State and Command ROS controllers:

roslaunch irb120_robotiq85_gazebo irb120_robotiq85_gazebo.launch 

Launch the basic Gazebo simulation + MoveIt Commander:

roslaunch irb120_robotiq85_gazebo irb120_robotiq85_gazebo_moveit.launch

Launch the basic Gazebo simulation + MoveIt Commander + RViz including MoveIt plugin:

roslaunch irb120_robotiq85_gazebo irb120_robotiq85_gazebo_moveit_rviz.launch

Launch the basic Gazebo simulation including a Kinect camera

roslaunch irb120_robotiq85_gazebo irb120_robotiq85_kinect_gazebo.launch

Launch the basic Gazebo simulation including a Kinect camera and some basic objects in the scene:

roslaunch irb120_robotiq85_gazebo irb120_robotiq85_kinect_gazebo_world.launch

First, launch the basic Gazebo simulation + MoveIt Commander. Then, there are three options:

1. Forward kinematics plan and execution:

rosrun irb120_robotiq85_gazebo forward_kinematics.py

2. Inverse kinematics plan and execution (move joints):

rosrun irb120_robotiq85_gazebo IK_destination pose.py

3. Cartesian path (IK) plan and execution (move linear):

rosrun irb120_robotiq85_gazebo IK_cartesian_path.py

• Update .py files
• Complete a pick and place example in Gazebo
• Configure perception in MoveIt using the Kinect static depth camera