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IFL-CAMP / iiwa_stack

ROS integration for the KUKA LBR IIWA R800/R820 (7/14 Kg).
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How to deploy more than one iiwa with ROS? #268

Open MyZQL opened 3 years ago

MyZQL commented 3 years ago

Now I have two IIWA7 arms. I want to control them with only one ROS master. So,how can I configure the network for the dual-arm system?

civerachb-cpr commented 3 years ago

Not sure if you're still working on this, but you'll need to configure each arm to have its own IP address. In StationSetup.cat, set a unique IP address for the arm. When editing RoboticsAPI.data.xml, set the robot_ip parameter to the same address. Each arm should also have a unique robot_name parameter in the XML file, e.g. left_iiwa and right_iiwa.

Note that when you change the arm's IP address you'll need to enter the old IP address when installing the project to the cabinet, at least the first time.