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ros-industrial / motoman

ROS-Industrial Motoman support (http://wiki.ros.org/motoman)
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Good idea to use ros1bridge with Moveit2 and ROS2? #409

Closed tataetae closed 3 years ago

tataetae commented 3 years ago

To my understanding, this repository is for ROS 1 . So if we are looking to use ROS 2 (as it's probably more future proof as we are in early stage of our project), would it be a good idea to use this repository in conjunction with ROS1 bridge? Our task is mainly pick and place and palletizing/depalletizing (with probably some trimming/sanding/soft object manipulation in the future). Would be glad to hear more about the effort for ROS 2 on motoman robots! Thanks!

gavanderhoorn commented 3 years ago

It's been a while since I last tried this, but in principle it's possible.

Whether it would be a good idea is a different question.

The driver's default interface is trajectory based. So clients send trajectory goals and then wait for completion of trajectory execution. That's really low volume traffic, which the bridge should be able to handle.

You would need something like https://github.com/ros2/ros1_bridge/pull/256 though, as it's all actionlib based, which ros1_bridge doesn't support by default.

All the high volume traffic will then stay "behind" the bridge, in "ROS 1 land".

If you'd also need JointState information on the ROS 2 side, that might change things.

Technically, the bridge should be able to handle it, but I've observed (and heard from other users) different things. Stability might become a problem, but it's not something I can say something conclusive about here. That would have to be tested.

gavanderhoorn commented 3 years ago

Note btw:

Our task is mainly pick and place and palletizing/depalletizing (with probably some trimming/sanding/soft object manipulation in the future)

the first two use-cases are rather different from the latter ones.

still possible with a trajectory-based interface, but if "trimming/sanding/soft object manipulation" requires closed-loop control, it's going to be difficult.

Perhaps something like tingelst/motoman_hardware would work better.

But note that it's not compatible with motoman_driver immediately.

gavanderhoorn commented 3 years ago

Closing due to inactivity.