Submitted by: Thiago de Freitas and Ulrich Reiser, Fraunhofer IPA
Under the cooperation between Fraunhofer IPA, Yaskawa Smart Robotics Center in Japan and Yaskawa Motoman Robotics, a ROS-I driver to support multi-groups control for the Motoman Robots was developed.
The first industrial dual-arm manipulator to run the driver was the Motoman SDA10F with an FS100 controller. The driver provided the capability for generating synchronous and asynchronous movements from the ROS side that could be send to the FS100 controller and then executed by the real robot groups (left arm, right arm and torso). Also, support packages were setup including driver configuration files, URDF and MoveIT! configuration files.
The driver was also demonstrated during ROSCON 2014, using a Motoman BMDA3 robot. [Remarkably, the driver worked with the hardware despite the SwRI software team never having access to the hardware prior to the event.] The demo was organized by Yaskawa Motoman and SwRI.
Some tutorials are recommended for getting a better overview of the driver usage and system configuration:
Some additional information: