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jr-robotics / robo-gym-robot-servers

Repository containing Robot Servers ROS packages
https://sites.google.com/view/robo-gym
MIT License
29 stars 22 forks source link

Recreating the same for other robots #16

Open rithuraj-techolution opened 3 weeks ago

rithuraj-techolution commented 3 weeks ago

Currently the repo supports mostly the UR robots, how can we recreate this for other robots as well? Is there any approach of doing so?

jr-b-reiterer commented 3 days ago

Hi @rithuraj-techolution,

the rough approach would be to derive a new robot_server package from the ur_robot_server package and replacing all UR-specific things to match your robot and controller setup so that commands can go in and state can come out - mainly in the ros_bridge and command handler script; also the launch file will need many adaptations.

A WIP example of this approach can be seen in the panda_robot_server package. There is follow-up work on this by the community, e.g., https://github.com/jr-robotics/robo-gym-robot-servers/pull/15.

Of course you would also need matching environments for your new robot server.