Comments (1)
Hi,
Glad you found this package useful.
The PandaRobotHWSim interface was not written for a multi-robot setup originally, and a lot of the code is, as you said, hard-coded for a single instance of the robot. The namespaces being used in the interface are directly loaded from the franka_panda_description
package (see panda.transmission.xacro
file). However, I am not sure how the custom hardware interface would respond to having multiple instances of it running simultaneously, but feel free to test it out.
If you don't really need to use franka_ros_interface
or panda_robot
interfaces, and only want to have multiple instances of the arm in the simulator, then I would recommend trying to modify a simulator that uses one of the default gazebo hardware interfaces; it would be easier to make the required changes to the launch file (and maybe the description files as well) to load two robots in the simulator. One example of such a package that uses the default ROS/Gazebo interfaces is gazebo_panda
.
Sorry for not being more helpful. If you manage to get a dual-arm setup working with either of these simulator packages, it would be great if you could contribute to the repositories with a PR!
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Related Issues (20)
- Moveit Demo HOT 3
- I use cpp to imitate python script(move_robot.py). message md5sum is mismatch. HOT 2
- Action client not connected. No controllers. HOT 3
- Cartesian Pose Control as directly supported by Panda (#39) HOT 7
- how can i control the franka at the joint velocity level HOT 1
- start the franka_example_controller HOT 1
- Process finished on startup and demo fail HOT 5
- Trajectory replacing support HOT 2
- Gazebo not launched following Docker Build instructions HOT 3
- Gravity HOT 2
- Action client not connected: position_joint_trajectory_controller/follow_joint_trajectory HOT 4
- How do I add an .stl to the gazebo simulation? HOT 1
- Errors when running `roslaunch panda_gazebo panda_world.launch` HOT 2
- Error when running `roslaunch panda_sim_moveit sim_move_group.launch`
- Errors when starting example scripts
- Error while launching panda_world.launch
- Getting Segmentation Fault while lanuching the panda_world.launch file
- Controller registration fail: This controller requires a hardware interface of type 'panda_hardware_interface::SharedJointInterface'. Make sure this is registered in the hardware_interface::RobotHW class HOT 2
- Cannot do path planning with Move It Demo HOT 4
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