A suite of tools used for interfacing ROS-I and an ABB robot through the use of module files that are generated and downloaded on the fly.

The abb_motion_ftp_downloader interface uses the standard ROS-I State Server and a custom motion server. Files for it can be found under the rapid/ subdirectory. The system works by listening for the existence of a specific file in the HOME/PARTMODULES directory on the controller. Files are uploaded via FTP using libcurl. This library can be downloaded through the apt-get interface:

sudo apt-get install libcurl4-openssl-dev

When using the Rapid generation routines, be sure to flush/close your output file before sending it to the 'execute program' service.