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ROS2_control driver and native driver

asked 2021-02-23 13:30:18 -0600

Mani_32 gravatar image

I am trying to understand the differences in between ros2_control based driver for an industrial robotic arm and the term ROS2 native driver. Is the second one is refering to a ROS2 node directly communicating with the hardware.

Thanks for the help in advance.

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I am trying to understand the differences in between ros2_control based driver for an industrial robotic arm and the term ROS2 native driver.

it would help if you could provide some context.

Where did you read there might be a difference, and where is the comparison made between a "ROS2 native driver" and a "ros2_control based driver"?

gvdhoorn gravatar image gvdhoorn  ( 2021-02-23 14:59:16 -0600 )edit

I've been exploring the possible options of writing ROS drivers. Lets say for an industrial robotic arm hardware interface is provided by the manufacturer and using the ros2_control I want to write a ROS2 driver on the PC side and second option is a ROS2 node on the PC side communicating with the existing ROS1 driver of the industrial robot. Are they refering to the same idea right ?

Mani_32 gravatar image Mani_32  ( 2021-02-23 16:04:59 -0600 )edit

Lets say for an industrial robotic arm hardware interface is provided by the manufacturer and using the ros2_control I want to write a ROS2 driver on the PC side and second option is a ROS2 node on the PC side communicating with the existing ROS1 driver of the industrial robot

this sounds like you're describing an existing driver and/or situation.

gvdhoorn gravatar image gvdhoorn  ( 2021-02-24 02:09:34 -0600 )edit

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answered 2021-08-03 09:04:04 -0600

Jaron gravatar image

If I understand your set up correctly, they are not the same thing, though they should produce the exact same result. The first option however, requires you to write a driver while the second one does not. Obviously, the path of least resistance should be the best.

This doesn't really seem related to ros2_control to be honest, beyond the fact that it's implied that you are using it.

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Asked: 2021-02-23 13:30:18 -0600

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Last updated: Aug 03