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

[Andreas Köpf]

@ted-miller I did this some time ago. I also had to tweak the Motoplus driver a bit to make this work, especially in MotionServer.c I added this:

```
// first robot
moveData.ctrl_grp = 1 | (1 << 2);		// AKo: Hard coded special value for our SD10D R1+B1 R2 special configuration
ret = mpMeiIncrementMove(MP_SL_ID1, &moveData);
```

But yes, with these changes it is definitely possible to operate all 15 joints of the SDA10D with a DX100 controller simultaneously (run whole body motions).

We at Xamla added a couple of more things to the Motoplus driver for better realtime control etc, e.g. see [FT control](https://www.youtube.com/watch?v=5D72o1vfU34) or [joystick control](https://www.youtube.com/watch?v=KgzYKmDy8jk). In general an issue of the DX100 is the big latency of the system (~ 100ms) which is probably caused by lower level moving average filtering in the motor controllers.





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