The Python script **abb_egm_driver/scripts/driver_test_node.py** tests the driver by alternately sending trajectories via motion download and real-time streamed motions to the real robot. Before using it, check carefully that the motions performed in the script can be executed collision-free by your robot. To run the script:
roslaunch abb_egm_driver driver_test.launch
Now the robot should move alternately from one side of a virtual tower to the other (motion download) and perform a small circle in the XZ plane on each side (motion streaming):