using multiple hardware interfaces (kuka tool)

asked 2018-05-11 15:56:20 -0500

tobi93 gravatar image

Hello everybody,

I'm currently trying to connect two "robots". First I use a kuka robot : and this tool: +

I added to my single_lwr_robot.urdf.xacro:

<!-- using the models barrett-->
<xacro:bhand parent="lwr_7_link" name="bhand">
    <origin xyz="0 0 0" rpy="0 0 0"/>

The simulation is now loading with the kuka+ barrett hand attached. The problem is now that I either can control the kuka, or the barrett hand. The error message while launching everything is:

Joint lwr_a1_joint of transmission lwr_a1_trans specifies multiple hardware interfaces. Currently the default robot hardware simulation interface only supports one. Using the first entry

if I not comment out this:

    <plugin name="ros_control_barrett" filename="">

in the bh_alone.urdf.xacro file.

I just googled a bit and found a lot of tips, but no tip worked so far. The kuka and barrett hand are already in an own namespace. Furthermore I found this here: , but I didn't found an example for using it. Maybe this is the solution for this issue? - Or is there another idea?

Thanks and bye, Tobias

P.s. I'm using Kinetic

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If this is just about simulation, then one approach would be to not use different instances of DefaultRobotHWSim and just have a single one control all joints in your combined robot.

gvdhoorn gravatar image gvdhoorn  ( 2018-05-12 03:02:32 -0500 )edit

If you use combined_robot_hw one can use only one simulation instance an this should do the trick.

destogl gravatar image destogl  ( 2018-06-29 01:25:23 -0500 )edit