Number of ros_control nodes with a controller_manager (ros1 - noetic)
I am currently building a robot. The robot has two continuous spinning motors (wheels) and two servos.
I plan on using the ros_control stack to control the operators.
In order to enhance have a nice separation between the two types of hardware I would like to have them in separate notes. Each of the nodes should implement hardware_interface::RobotHW. Since the hardware interface has to be registered in the controller_manager I need a controller_manager in both nodes.
Might is cause problems to spawn two instances of the controller_manager? Is there anything special to take care of in this case?
Should the whole robot hardware be controlled with a single ros_control node or are two nodes preferable (one for each type of hardware used)?
Note: ros-noetic on Ubuntu 20.04
