Some news: I fail to run tests on the python scripts, help would be appreciated: https://gitlab.com/InstitutMaupertuis/ros_robodk_post_processors/merge_requests/5 I have found an easy way to add custom commands for each post processor, specific services are defined in the [corresponding srv sub directory](https://gitlab.com/InstitutMaupertuis/ros_robodk_post_processors/tree/melodic/srv/Motoman), then a separate python script defines the services servers [motoman.py](https://gitlab.com/InstitutMaupertuis/ros_robodk_post_processors/blob/melodic/scripts/motoman.py). This way the common services and specific services are nicely separated. Service returns with an error if the current post processor does not correspond to the service called (eg: using a Fanuc post processor and calling a motoman specific service). This approach seems to be working fine but I have not yet looked at the other items in the bullet list of the first post. --- [Visit Topic](https://discourse.ros.org/t/robodk-post-processors/5663/2) 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: