This library implements the communication layer of ABB externally-guided motion.
Externally-guided motion (or EGM) is an interface for ABB robots to allow smooth control of a robotic arm from an external PC. In order to use it, the Externally Guided Motion option (689-1) must be installed on the robot controller.
EGM can be used to stream positions to a robot controller in either joint space or cartesian space. It can also be used to apply corrections to a pre-programmed trajectory.
To communicate with a robot controller in blocking mode, use sync_peer::EgmPeer.
Use tokio_peer::EgmPeer if you want to communicate with a robot controller asynchronously.
Industrial robots are dangerous machines. Sending poses to the robot using EGM may cause it to perform dangerous motions that could lead to damage, injuries or even death.
Always take appropriate precautions. Stay out of reach of the robot when it is operational and always keep an emergency stop at hand when testing.
Some optional features are available.
Note that all features are enabled by default.
They can be disabled by specifying default-features = false in your dependency declaration.
Then you can enable only the features you need, to avoid unnecessary dependencies.
The available features are:
* tokio: enable the asynchronous peer.
* nalgebra: implement conversions between nalgebra types and EGM messages.
The Rust code for the protobuf messages are generated using prost.
To re-generate the messages, run the following command:
sh
cargo run --features generate-rust --bin generate-rust