@gavanderhoorn: both manipulator and positioner are integrated with a DX200 controller. Here is Eric Marcil's answer to a similar question: > Yes, the same controller will support both the robot and the station. Each one is considered a control group. > >So any example combining two robots is essentially the same as combining a robot with a station. The only difference is that the station has less joints. > >If you look in the simple message structure there is a field for groupNo. For your system: > > 0 = robot > 1 = station > >If I remember correctly, there are two approaches. > >You can send multiple messages for each group using SmBodyJointTrajPtFull >Or you can send a single message with multiple group info using SmBodyJointTrajPtFullEx > >I believe that the second one is usually recommended if you are trying to coordinate the motion between both groups. So I think our system is in deed setup as a multi-group system. It has actually not been delivered yet but we should have it up and running some time in March. So far, I have been running `moveit_planning_execution.launch sim:=true` to simulate the robot and that is when I've run into the above errors. So the question would also be whether the industrial robot simulator has multi-group capabilities since simulating the robot prior to execution is also required. I have not configured the `motoman_driver` but will look into that next. --- [Visit Topic](https://discourse.ros.org/t/integration-of-6-axis-manipulator-and-2-axis-positioner-external-axes/7931/9) 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: