Is ROS able to support SDA10D industrial robot? When?
I found in ROS Industrial robot has SIA10D. I want to know is there any schedule for SDA10D (two arms)?
Thank you~
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I found in ROS Industrial robot has SIA10D. I want to know is there any schedule for SDA10D (two arms)?
Thank you~
There isn't any plan to support the dual arm robots. However, several people have expressed interest and this is something that the ROS-Industrial developers would like to support. The development effort to support the dual arm robots is probably a small, but non-trivial effort. I am guessing, but I believe we have enough tools and libraries to do it. Unfortunately, the ROS-Industrial developers do not have access to the hardware and don't have a good knowledge of the controller architecture. I would suggest the following:
I am not familiar with the dual arm architecture but one obvious difference comes to mind. The single arm controller has a limitation of 12 axes. A dual arm setup would have at least 14. This difference would have to be handled at the driver level. This may require a completely different driver for the dual arm setup.
The 12 axes limit comes from the Motoplus software libraries (Motoplus is a development environment that allows c/c++ code to be compiled and ran directly on the controller). Joint positions are limited to 12 joints. They probably treat each arm as a separate robot. In that case we might have to add a robot ID to the joint position that is sent from ROS.
Anybody with interest is welcome to join the ROS-Industrial developers group. I would invite you to join whether you have hardware or not. At the very least, your knowledge about the motoman platform will be useful. The ROS-Industrial effort is still in it's startup phase, so I'm not sure what direction it will ultimately take. Of course, thats the best part of being involved at the beginning.
As for requiring a driver rewrite, the current one will not work as is. I imagine with some small modifications, we could get single arm motion to work. Simultaneous moves might be more difficult, but thats because I'm not sure how multiple arms are moved at the INFORM level.
Asked: 2012-02-18 03:21:44 -0500
Seen: 742 times
Last updated: Feb 18 '12
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