DX100 New Driver Notes¶
Several changes had to be done to support dual arm controll in ROS-I, including group organization in controller and source code modification as well.
Teach Pendant ChangeList¶
- Add group R1+S1 from teach pendant (require Maintaince mode)
Source Code ChangeList¶
- Parallel inform jobs for each group (R1+S1 and R2)
- In Ros_CtrlGroup_Create maxSpeedRad is converted to be always positive
- In MotionServer speed check changed from 'abs' to 'fabs'
- Added SetPowerOff in StopTrajMode function
- Station1 (Station2) added into comunication area of first (second) robot in Ros_MotionServer_IncMoveLoopStart