[ros-users] [Discourse.ros.org] [ROS-Industrial] Integration of 6-axis manipulator and 2-axis positioner (external axes)
Thomas Lehmann via Discourse.ros.org
ros.discourse at gmail.com
Thu Feb 28 23:59:07 UTC 2019
@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.
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