Comments (2)
gavanderhoorn
commented on June 6, 2024
Seems this is already supported as the abb_driver nodes extend the RobotStateInterface and JointTrajectoryDownloader classes which look for a port parameter in the node's namespace at initialisation (here for the RobotStateInterface).
This should probably be documented a bit better, as it was not obvious that this was the case.
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gavanderhoorn
commented on June 6, 2024
Added some to wiki/abb_driver. This is probably generic enough that we can re-use it for the other subclasses of the generic nodes in industrial_core (but we'd have to add robot_status, as I left it out).
See wiki/StyleGuide for info on the ClearSilver NodeAPI used.
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Related Issues (20)
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