Modifying the UR Kinematics Plugin so that it works with multiple UR-X arms on a robot #247
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This was referenced Feb 13, 2018
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I believe this is actually partly an issue (still) with MoveIt: it won't load multiple instances of the same IK plugin, so the prefix is indeed only read once. |
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…example function (ros-industrial#247) Squashed commits: * Add "program_running" status publisher * Add documentation and example * Add isProgramRunning() example function * Publish robot internal data * Change error return value in isProgramRunning * Throw exception in isProgramRunning * Insert missed timeout check, prettify * Decrease verbosity * Move RobotModeDataMsg to ur_msgs * clang format * Correct typos, add tested environment * Remove convenience header * Correct typo
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As it stands, the planner loads joints based on a prefix + joint name. This is an issue when using 2+ arms on a robot, since the plugin can only read the arm prefix parameter once, which there has to be 2 different prefixes set at (more for each arm) so that the plugin can differentiate between joints it loads.
Thus, the only solution is to run two different moveit_configs and/or different namespaces for all of the move_group configurations which is redundant.
A better solution would be to change the UR kinematics plugin so that it is joint agnostic. Is this possible? I'm looking through the code right now, and I'll post my thoughts, but I thought I should ask those who maintain/have written it first.
@kphawkins
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