How to control different robots in multimaster fkie?

asked 2020-08-05 18:13:18 -0600

Aash gravatar image

I have launched two different robots (say kuka and fanuc) with different masters using multimaster fkie. I am able to control them individually but when i try to syncronise the two robots using master_sync, I am not able to control it. Is there anyways by which multiple robots can be controlled by using Moveit if its launched using multimaster fkie.?

I am using ROS kinetic, gazebo 7

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Regarding the multimaster FKIE, note that you can make certain topics/nodes private to the one ROS master. This comes in handy if there is a process for which you cannot rename the topic and that would be named the same in both robots. I can only imagine maybe there is some topic being used by the MoveIt! with fixed name that is being used by both robots? Or maybe it's something else that fails you, not the MoveIt! itself. Can you run the both robots without using MoveIt! and make them both work at the same time?

kump gravatar image kump  ( 2020-08-06 01:45:47 -0600 )edit

when i try to syncronise the two robots using master_sync

I doubt anyone can help without @Aash explaining what he means exactly by this statement.

gvdhoorn gravatar image gvdhoorn  ( 2020-08-06 04:53:08 -0600 )edit

@gvdhoorn I am looking for a leader follower heterogeneous robot system. I launched the different robots using multimaster. But I am not able to control the two robots at the same time using MoveIt in multimaster fkie setup. Am sorry my question was not clear as I am a beginner in this field and I'm just getting used to the terms to be used. Hope it is clear now.

Aash gravatar image Aash  ( 2020-08-06 06:59:34 -0600 )edit

@kump Am sorry to ask, but what do you mean by this statement? " Can you run the both robots without using MoveIt! and make them both work at the same time?"

Aash gravatar image Aash  ( 2020-08-06 07:02:09 -0600 )edit

@Aash To narrow down if the problem is MoveIt! itself or if other things does not work due to using the Multimaster FKIE package. Can you load the robots and for example command their joints individually without using MoveIt!? Perhaps it would give you some error and you would know the problem is elsewhere than with MoveIt!.

kump gravatar image kump  ( 2020-08-06 11:10:19 -0600 )edit

@kump May i ask you, Do you have any idea on how to write the python code to implement moveit in multimaster fkie? Do we need action server client to synchronise the robots? Please suggest some tutorials if possible.

Aash gravatar image Aash  ( 2020-08-07 15:25:53 -0600 )edit