Best practices for hardware interface with multiple motor drivers

asked 2019-04-09 04:21:05 -0500

Hi!

I'm wondering what would be the best practice for setting up robot hardware interface with multiple motor control nodes (let's assume USB communications for simplicity) and let's say that a single node can control only one motor.

What I think would be the best practice for using hardware_interface in such configuration is creating the node that will create object for each of the devices and will implement the hardware interface.

Another approach I can think of is running the nodes independent and create a single node that will connect to all the driver nodes and will aggregate data from the driver nodes. This sounds easy to do but we potentially lose the close to real time aspect of hardware control.

I also came across combined_robot_hw that I think could work the case I described but I didn't invest enough time in researching it to know for sure.

Is there anything I missed? Do you know what would be the best practice to use?

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