[ros-users] [Discourse.ros.org] [ROS-Industrial] Using the Motoman SDA20D Dual-arms DX100 ROS Interface(Indigo)

Andreas Köpf ros.discourse at gmail.com
Tue May 8 17:43:50 UTC 2018

@gavanderhoorn I can confirm that a SDA can be operated with three groups on a DX100. Removing the shared torso axis was the only way we found to execute full body motions (both arms + torso) with a DX100. Primary reason for this is the Motoplus driver which has to split the updates for both robots (R1, R2) on the DX100 into two different calls, e.g. see [MotionServer.c#L1693-L1715](https://github.com/ros-industrial/motoman/blob/a87015adee079370c6ea206ad4e538120e6e1a83/motoman_driver/MotoPlus/MotionServer.c#L1693-L1715). If both calls are executed after each other the DX100 complains about different joint values for the shared base axis (even when you try to set the exact same values).

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