Best practice for simultaneous control of multiple resources (e.g arm + base)

[Dina Youakim]

Hello,

I have a scenario and I am not able to decide the best standard way to cover it. For some reason, I need to move a base + arm simultaneously.

Since I am using MoveIt!, I define one planning group for both and I am able to plan both, and the plan reaches the MoveIt! controller interface.

The issue is that the base is position controlled, and the arm is velocity controlled. At which level the split should be done ? at MoveIt! controller interface and send different goals using threads ? is it gonna execute simultaneously ? and what about the joint state update, since I need a full joint state for both the arm and the base together.

Or the split should be done somehow in the hardware interface and I should use doSwitch & prepareSwitch ? but will this option ensure simultaneous execution ? is it possible using a single hardware_interface to use different types of controllers for different joints at the same time ?

Cheers,

Dina.

[Toni Oliver]

Hi Dina,

Maybe this might be helpful.

http://wiki.ros.org/combined_robot_hw?distro=kinetic

It should allow you to run 2 different RobotHW components (one for the base and one for the arm) in the same control loop (and a single joint_state would be published for the whole robot).

Cheers,

Toni

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