While trying to setup a system with multiple LBR robots on a single node, I realized there's a conflict for handle names due to sensor and gpio handles not being prefixed with the robot name.
I manged to draft the required changes to make such a setup work in our internal fork, which you can see in combined-hw-support in tecnalia-medical-robotics/lbr_fri_ros2_stack. This is still incomplete, but I tested it in out setup and so far it works as intended.
Since there's already #385 dealing with dual-arm setups, I hesitated whether to open yet another pull-request dealing with the same topic. Opened this issue instead to bring up the issue with our use case, namely spawning multiple LBR system interfaces into a single node / controller_manager.
I'm aware that in its current state my change needs, at the very least, updating the controllers which currently rely on the hardcoded non-prefixed wrench and auxiliary_sensor names. I'd be glad to update those (and anything else I missed) if you're happy with the approach I've taken for prefixing these interfaces.
I'll continue to test and evaluate these changes on our setup, but I'd be happy to receive feedback on whether this is a use-case you'd like to support and on how you'd like me to proceed if that's the case.
While trying to setup a system with multiple LBR robots on a single node, I realized there's a conflict for handle names due to sensor and gpio handles not being prefixed with the robot name.
I manged to draft the required changes to make such a setup work in our internal fork, which you can see in
combined-hw-supportin tecnalia-medical-robotics/lbr_fri_ros2_stack. This is still incomplete, but I tested it in out setup and so far it works as intended.Since there's already #385 dealing with dual-arm setups, I hesitated whether to open yet another pull-request dealing with the same topic. Opened this issue instead to bring up the issue with our use case, namely spawning multiple LBR system interfaces into a single node / controller_manager.
I'm aware that in its current state my change needs, at the very least, updating the controllers which currently rely on the hardcoded non-prefixed
wrenchandauxiliary_sensornames. I'd be glad to update those (and anything else I missed) if you're happy with the approach I've taken for prefixing these interfaces.I'll continue to test and evaluate these changes on our setup, but I'd be happy to receive feedback on whether this is a use-case you'd like to support and on how you'd like me to proceed if that's the case.