Can I control 2 different robots?

ADVRHumanoids / xbot2_examples

Examples and tutorials on the new XBot2 framework -- WIP

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Can I control 2 different robots? #17

Open torydebra opened 3 years ago

torydebra commented 3 years ago

Hi,

I was wondering if I can have more than one robot "active" with xbot2. For example, I want to play with two different arms: command the first one, read some sensor on the second, command the first again, and then command the second.

From what I understand, xbot read the config yaml file where a robot description and its plugins are specified; hence, can I run multiple istance of xbot2-core on the same machine?

alaurenzi commented 3 years ago

I'll work on this at some point in the future. Basically we need:

to namespace the internal ROS node and all topics
to create all shared memory devices in sub-folders so they don't conflict
maybe something else :D