ABB RWS Service calls not working on Foxy

[MikelBueno]

Hi,

First of all, thank you very much for creating the Foxy branch for abb_ros2, I have tested it by controlling my ABB IRB120 in Robot Studio with MoveIt!2 in Foxy and it works :)

Unfortunately, I am having some problems when trying to manipulate the Controller I/O-s with ABB-RWS in ROS2 Foxy. I wanted to test the ROS2-RobotStudio connection by calling a simple service, and this is what happens:

1. I launch the RWS client, and it connects to the robot correctly:
   

2. I call "ros2 service list", and the ROS2 Services provided by abb_rws appear on the screen.

3. I try to call a ROS2 Service, but ROS2 cannot detect the ROS2 Service, and therefore nothing is executed. This happens with every single ROS2 Service on the list:
   

I have followed the same exact steps in my ROS2 Rolling machine, and it works properly:

I believe something could be missing, which blocks all ABB RWS ROS2 Services from being executed or initialised...
Any help with this would be much appreciated, thank you very much in advance!

Regards,
Mikel

[MikelBueno]

Hi @stephanie-eng,

Any update on this?

Thank you very much in advance.
Best regards,
Mikel