[SOLVED] How do we transmit trajectories to our ABB IRB 140 using the ABB Package

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Provided that you are using the ABB driver from the ROS-Industrial community, you can find the topics it publishes and subscribes to on the abb_driver page.

Most users will want to interact with the joint_trajectory_action node. It accepts msgs of the type control_msgs/FollowJointTrajectoryActionGoal on the joint_trajectory_action/goal topic (similar to other action servers controlling arm motion).

The joint_trajectory_action node then translates these msgs into suitable trajectory_msgs/JointTrajectory msgs for the /joint_path_command topic, to which the specific driver nodes subscribe. In this case the motion_download_interface from the abb_driver package.

We would like to use a planned path from Moveit (Rviz) to create our trajectory and then send that trajectory to the robot.

The ROS-Industrial drivers all implement the basic (standardised) ROS interface for arm control that lets MoveIt (or one of it's controllers) interact with them. Controlling a ROS-Industrial driver (or the arm connected to it) is no different from working with any other ROS driver implementing the same interface.

There isn't yet a support package or MoveIt configuration package for the IRB140, but they aren't too difficult to create. See wiki.ros.org/abb for some existing packages, the Create a URDF for an Industrial Robot tutorial for some pointers on how to create a proper URDF, and the Create a MoveIt Package for an Industrial Robot tutorial for ROS-Industrial compatible MoveIt configuration packages.

You might also be interested in the ROS-Industrial training exercises. They take you through the process of setting up and interacting with some (simulated) industrial robots, and also planning and execution motions with them.