[quote="gonzalocasas, post:1, topic:4694"] One driver per robot: install the driver multiple times on the controller, changing the TCP ports or using different IP address/network cards of the robot, so that we end up with pairs of motion/status servers running per robot, and consequently, one node per robot running on ROS. [/quote] You don't need different IPs or NICs, different TCP ports would be enough. But yes, this is one of the approaches that is used for this sort of setup. [quote="gonzalocasas, post:1, topic:4694"] I dont know if that works very well that can be configured on the ros node side of things to avoid collision, but I assume is doable. [/quote] This setup is no different from any other multi-robot setup (ie: multiple turtlebots, or multiple static robots), so as long as `` is aware of the entire scene this should just work. [quote="gonzalocasas, post:1, topic:4694"] Add new message types and extend existing drivers: another simple option would be to add a few additional messages that would pre-assign dispatching to a specific motion task (i.e. call set_robot(x) before sending trajectories, so that the driver knows where to dispatch this to. [/quote] That is also an option, but would require changes to the driver on both the robot as well as the ROS side. Your first approach is a lot less work -- and is in fact how some early setups for YuMi worked (ie: consider each arm a separate robot). It will not allow for executing synchronous motions with all robots involved though. For that your second approach would be better suited. [quote="gonzalocasas, post:1, topic:4694"] Without digging into the whole multi-master or orchestration approaches [/quote] I don't believe this is needed, at least not for the simple setup you describe / imply in your post. --- [Visit Topic](https://discourse.ros.org/t/multiple-robots-in-one-controller/4694/2) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: