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yoshito-n-students / layered_hardware_epos

A ros_control layer implementation for maxon EPOS motor drivers
MIT License
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Multiple axis control #2

Closed SamueleLanzanova closed 3 years ago

SamueleLanzanova commented 3 years ago

First of all, thanks for sharing this package. It's truly helping our team a lot!

We dug into the code and we managed to smoothly connect to one Maxon motor editing the single_epos4_example.launch file that you provided and following the instructions in layered_hardware_ci. However, our project requires the simultaneous control of 6 actuators and we would be glad if you could upload an example launch file for the multi axis case, too.

Things that we tried:

In both cases, we couldn't manage to make turn the second actuator (connected via port USB1) with the rostopic pub command

I believe this additional launch file could also benefit other students and researchers.

Great thanks!

yoshito-okada commented 3 years ago

May example urdf and launch that define and control three axes in the layered_hardware repo help?

SamueleLanzanova commented 3 years ago

Yes, that was really helpful, thanks a lot!