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

[gavanderhoorn]

[quote="Sinai_Aranda, post:18, topic:4667"]
I have resolved the problem. The count is from zero for number of groups just delete ros_assert.
[/quote]

That is not a solution. The assert is there for a reason, and you're essentially running into [motoman/#91](https://github.com/ros-industrial/motoman/issues/91).

Looking at the output in [your previous post[(https://discourse.ros.org/t/using-the-motoman-sda20d-dual-arms-dx100-ros-interface-indigo/4667/16?u=gavanderhoorn), it appears you've duplicated `group 2`, that won't work. Your robot has either 2 or 3 groups, and the `motion_interface.yaml` should reflect that.

The configuration that @andreaskoepf posted would be more like what you should be using, but then we'd have to fix [motoman/#91](https://github.com/ros-industrial/motoman/issues/91).

If @ted-miller could clarify whether the approach used by @andreaskoepf is acceptable / supported, you could even use that configuration and the MotoPlus changes. But let's wait for his comments.





---
[Visit Topic](https://discourse.ros.org/t/using-the-motoman-sda20d-dual-arms-dx100-ros-interface-indigo/4667/20) or reply to this email to respond.