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ROS 2 driver version #359
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@tingelst: you appear to have a fork with an Could you comment here on the status of that work? |
@gavanderhoorn I started some initial experiments with ROS2 in the I would very much like to be a part of this discussion, and will also be able to contribute with development work as getting a ROS2 driver for out motoman robots is a part of our long term strategy. |
@gavanderhoorn I have over the last months developed a pure Python 3 library for controlling MOTOMAN robots which you can find here: https://github.com/tingelst/moto. The Moreover, I have extended the robot driver for real-time control which is synced with the RT clock on the controller. The code can be found here. An accompanying ros2 control hardware interface can be found here. Has there been any ROS2 development efforts on your side? |
Hi, @gavanderhoorn! Due to the Christmas holidays and reduced lab work due to Covid-19 restrictions, we have not yet performed experiments regarding latency. This is something that is on the agenda this spring. |
This issue was moved to a discussion.
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This issue would be the place to discuss development approaches for a ROS 2 version of
motoman_driver
.There is no requirement to keep the current architecture, nor to host any eventual results in this repository necessarily. Different architectures could be considered and new repositories can be created.
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