twins-controller issueshttps://code.research.uts.edu.au/bigprint/twins-controller/-/issues2022-10-19T10:07:18+11:00https://code.research.uts.edu.au/bigprint/twins-controller/-/issues/5multiple arms following plan created by twins-planner2022-10-19T10:07:18+11:00Jayant Khatkarmultiple arms following plan created by twins-planner- [x] make rostopic names robot specific
- [x] make node name different for each arm so both can be done connections can run simultaneously
- [x] document process for connecting to both arms simultaneously
- [x] make MoveIt package for c...- [x] make rostopic names robot specific
- [x] make node name different for each arm so both can be done connections can run simultaneously
- [x] document process for connecting to both arms simultaneously
- [x] make MoveIt package for controlling both arms simultaneously
- [x] edit MoveIt package to hook into real controllers (with robot specific names)
- [x] Create controller object for controlling both arms and extruders from python
- [x] Create safe trajectories for both arms to execute simultaneously
- [x] main loop controlling both arms simultaneously
- [x] execute some safe trajectories to test main loop control
- [x] read feedback from arms on arm positions etc
- [x] Time arms to see time offset over both arms executing a single trajectory
- [x] Time arms to see time offset over multiple trajectories
- [x] Design workarounds for time offsets if excessive
- [x] Execute long plan for both arms without extrusion
- [x] Connect multiple Extruders simultaneously
- [x] Extrude simultaneouslyTwo arms printingJayant KhatkarJayant Khatkar