Multiple mechanical units with abb_driver
Hello,
I'm working on a project that uses 4x ABB IRB6640 with IRBT6004 tracks. RobotWare 5.15, ROS Melodic. In case anyone was going to suggest looking into using abb_robot_driver, unfortunately there is no way i can get EGM working with my setup.
The company that has commissioned the robots for me have setup the track as a separate mechanical unit within the controller. They have said that they are not aware of a way of setting external axis up in the same mechanical unit. Is this correct or do they just not know how to do that?
If i understand the abb_driver wiki correctly, this means i have to have 2 instances of the abb_driver running in the controller, one for each mechanical unit? I have found the following post, which is somewhat similar:
https://github.com/ros-industrial/abb_driver/issues/3
however this is treating it as 2 separate robots on the ROS side (unless i misunderstood it). In my case i need ROS to see each of the robots with their respective rails as as single unit. do i need to have 2 sets of abb_driver nodes running for each robot? I'm a bit unsure how to proceed and would very much appreciate any help.
thanks
Related Q&A: #q315856.