When working with two robots (UR5) is it advisable to keep the base_link frame of each robot at the origin?
Hello, I am working with two robots (UR5)...using arg init_pose I have set the robot 1 at x1, y1 and z1 position and robot 2 at x2y2 and z2 position. Since the base_link to world joint in the urdf ur5_robot.urdf.xacro is 0.0 0.0 0.0 therefore, when I run rosrun rviz rviz I see that both the base_link of the two robots are at the same origin (0,0,0) even though in gazebo they are at different positions because of the arg init_pose.
My question is whether it is advisable to have multiple robots with a base link set at the origin so that it can increase the scalability to real-world applications? Or should I set the robots base_links at different positions in the urdf itself (i.e. hard-code the exact position of the base_link joint of each robot in the urdf itself) which option is better?
Or is there any other better solution?
