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Using RobotDriverClient and RobotDriverServer
This package is intended to expose joint positions of the robot to ROS2. It is based on the sas_robot_driver server--client topology.
Each robot node will create a server with ROS2 topics. That is completely managed by sas_robot_driver.
You must use a launch file to create your own servers, if needed. For guidance, use launch/real_robot_launch.py and modify as needed.
For most users, you will only need to modify the ip address to match the ip address of your robot.
If you have multiple robots, remember to change each one to have a unique name.
After your server is running, you can obtain current joint positions and send joint position commands. All those are managed through ROS2 topics.
❗ sas_robot_driver handles all ROS2 publishers and subscribers for you. DO NOT CREATE THEM MANUALLY. In, C++ and Python with the RobotDriverClient class.
An example on how to do that using rclpy is available at
scripts/joint_interface_example.py
When using CoppeliaSim, you will notice that we're not interfacing directly with the robot node. You can see that from the name
and the launch file that runs a sas_robot_driver_ros_composer_node
The composer node has two main roles. First, it allows us to abstract many different devices into a single serial robot. This is important for complex systems. It also allows us to reflect robot state in CoppeliaSim, as a virtual twin.
These are specified in the following parameters in the launch file and most parameters are probably self-evident.
Please note that this means that CoppeliaSim can be executed in any computer accessible with the ip address and port specified. It can be a completely separate computer, for instance, running Windows or macOS.