Execution of synchronized multi-group motion

[halmusaibeli]

Hello,

We have a work cell that has two groups: Fanuc arm and positioner. We are trying to execute a synchronized motion of the two separate groups. According to #9, gavanderhoorn/fanuc_driver_exp#11, and gavanderhoorn/fanuc_driver_exp#19, handling the synchronized motion for multi-group is not possible with the current fanuc_driver. is this correct? How hard is it to implement this? I believe we would need to use industrial_core_v2.

Could you please explain the proper approach to tackle this?

Thank you for your help.

[gavanderhoorn]

The branch which is mentioned in gavanderhoorn/fanuc_driver_exp#11 (ie: https://github.com/gavanderhoorn/fanuc_driver_exp/compare/positioner_axes_as_78) still exists.

From what you describe, it sounds like you have the same setup as @VictorLamoine did at that time.

It's not a proper solution, but do you see any reason why you'd not be able to use the code in that branch? You might want to rebase it a on-top of master to merge in the latest changes though.

Unless you want to have to rewrite just about everything, industrial_core v2 won't help.

[gavanderhoorn]

Also: I would recommend you use fanuc_driver_exp. It's a drop-in replacement of fanuc_driver with a few usability enhancements.

It still won't give you 100% motion performance though.