Enable controlling multiple robots on the same machine

kroshu / kuka_drivers

Repository containing ROS2 drivers for multiple KUKA robots

Apache License 2.0

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Enable controlling multiple robots on the same machine #97

Closed Svastits closed 10 months ago

Svastits commented 1 year ago

If one has to start multiple drivers for a multi-robot scenario, some of the nodes will have the same name, which will lead to undefined behaviour. To solve this:

a namespace option should be added to the launch files to be able to start the manager nodes in a different namespace
a solution should be found to change the name of the controller_manager nodes in these cases

Svastits commented 11 months ago

the driver configuration file location is currently hard-coded in the urdf, that should be modified to allow multiple robots with different parameters (e.g. ip)

The solution is to provide every parameter using the xacro command in the launch file This would also enable binary install and make sure the parameters are consequent between hw if and robot manager