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

[Andreas Köpf]

[quote="gavanderhoorn, post:14, topic:4667"]
[@andreaskoepf](/u/andreaskoepf): do I understand you correctly that you configured things such that you can only control both arms, but not the torso also on DX100?
[/quote]

No, we have no limitation of moving the torso of our SDA10D with DX100, e.g. we can move all 15 joints, 7 joints of one arm, 14 joints of two arms, or 8 joints of one arm and torso etc. We are using a slightly modified version of the MotoPlus driver and the Motoman ROS backend (e.g. correcting the deserialization of the joint_feedback_ex message, which also other did with some more lines of code as in [Two arms and rail with DX100 PR](https://github.com/ros-industrial/motoman/pull/179/files#diff-6c497a204c71947df371c0ababcc07be).

Probably the hardest change we had to make: In the robot controller configuration we removed the B2 group.

These are the [sda10d_motion_interface.yaml](https://github.com/Xamla/motoman/blob/sda_dev/motoman_sda10d_support/config/sda10d_motion_interface.yaml) and the [joint_names_sda10d.yaml](https://github.com/Xamla/motoman/blob/sda_dev/motoman_sda10d_support/config/joint_names_sda10d.yaml) we are using for our DX100.

And regarding the MotoPlus driver (@ted-miller): The documentation of `mpMeiIncrementMove` was quite challenging to decode - I guess the text about `MP_POS_DATA.ctrl_grp` in the `mpManualMOV` description also applies to `mpMeiIncrementMove`. So what I found is: It is possible to control R1 + B1 in one `mpMeiIncrementMove` command for `MP_SL_ID1` by setting the corresponding two bits of the `ctrl_grp` member. After that it is possible to execute another `mpMeiIncrementMove` for `MP_SL_ID2` with the `ctrl_grp` mask with a bit set for the data for `R2`. Both calls being made in one interpolation period results in smooth whole body motions.





---
[Visit Topic](https://discourse.ros.org/t/using-the-motoman-sda20d-dual-arms-dx100-ros-interface-indigo/4667/19) or reply to this email to respond.