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Missing documentation on multi-robot setups #131
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thanks for sharing this issue @TheMipmap . So in order to do a multi-robot setup, it is necessary to
Once that's done, one can connect the robots and the controlling PC to a switch. When using this stack, launch files can then e.g. be used as follows: ros2 launch lbr_bringup bringup.launch.py \
model:=iiwa7 # [iiwa7, iiwa14, med7, med14] \
sim:=false \
robot_name:=robot1 \
port_id:=30200 # assuming port was set to 30200 or (depending what is used) ros2 launch lbr_fri_ros2 app.launch.py model:=iiwa7 robot_name:=robot1 port_id:=30200 The same launch file can then be re-run with a different
See below: Multi-robot setups with moveit are currently not supported in this stack, but I haven't found a good way to do this through moveit yet. One interesting way to investigate multi-robot setups with moveit is the namespace tag in xacro ros/xacro#305. |
This issue requires:
Moving forward, it might be beneficial to have an |
Hey! How/where do we set the port number? I am looking through LBRServer.java, and cannot find anything related to the port number. |
Hi @EliasTDam , in the java application, you can configure the FRI connection. fri_configuration_ = FRIConfiguration.createRemoteConfiguration(lbr_, client_name_);
fri_configuration_.setSendPeriodMilliSec(send_period_);
fri_configuration_.setPortOnRemote(30201); // add this line and set desired port ID ideally there would be a user interaction to set it on the fly. That would need to be added |
Thanks @mhubii ! We'll continue to keep you posted on our progress. |
Lack of documentation regarding the implementation of multi-robot setups.
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