The site is read-only. Please transition to use Robotics Stack Exchange
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
 | 1 | initial version |
The abb_driver package was not written with YuMi in mind, meaning that it targets single group robots only. Both the motion and joint state servers have no concept of multiple motion groups.
That said it is possible to run two instances of the two tasks, edited slightly to use different port nrs, and assigned to the two separate groups (on the controller). This has been done by many groups already, and the official ABB driver is set to receive an upgrade to support this (multiple motion groups) as well as add EGM support soon.
One example of a fork that you could use already would be the fork of Örebro University: OrebroUniversity/yumi.
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
