fmauch
commented
1 year ago this looks good to me. But I have a question about trajectory port. How are you using it?
That answer might go out of scope here a little, hence this will be a bit brief:
In the ROS1 driver we used this for our trajectory forwarding controllers. Those were basically forwarding a trajectory setpoint by setpoint and interpolation is being done on the robot. We've used direct servoj commands with a (unfortunately hardcoded) blending radius to then execute the trajectory on the robot. With https://github.com/UniversalRobots/Universal_Robots_Client_Library/pull/103 we could do a spline interpolation similar to the one done by the JTC on the robot. The main benefit of this would be reduced real-time requirements on the ROS side at the cost of (IMHO) flexibility. @destogl we could discuss this further, but that's probably better done in some control scope. In the context of this PR this is relevant, since the client library is opening a trajectory interface on that port, which will clash with multiple instances.
firesurfer
Hi everyone. This adds the trajectory_port field to the ros2control part of the xacro and adds the prefix also to the gpio elements. This is needed in order to get support for multiple arms up and running.
This is the first part of hopefully a full set of PRs that will enable support for multiple arms