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This is not supported by those PRs as the PRs target the single-group code paths. The subscriber and subsequent processing of incoming points is only added and activated whenever the single-group initialisation is run in motoman_driver.

where can I find the two different versions of the "client"?

you can't, as there is only one implementation. There are different execution flows through the code for the single and multi-group cases.


Adding streaming support to multi-group setups may not be trivial, as mapping between joints (on the ROS side) and joints on the MotoROS side may not be trivial. The code for the single-group setup may help, but I'm not sure whether there are subtleties with multi-group setups that may not be apparent.

This is not supported by those PRs as the PRs target the single-group code paths. The subscriber and subsequent processing of incoming points is only added and activated whenever the single-group initialisation is run in motoman_driver.

where can I find the two different versions of the "client"?

you can't, as there is only one implementation. There are different execution flows through the code for the single and multi-group cases.


Adding streaming support to multi-group setups may not be trivial, as mapping between joints (on the ROS side) and joints on the MotoROS side may not be trivial. trivial (and there are other difficulties). The code for the single-group setup may help, but I'm not sure whether there are subtleties with multi-group setups that may not be apparent.