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Does ros2 have combined_robot_hw? I have two robot arms; how do I set them up so that the read/write for the two arms happens at the same time?

I have seen https://github.com/ros-controls/ros2_control_demos/blob/master/example_15/doc/userdoc.rst . This example spawns two robots. But not sure that these two robots are combined.

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I suppose that this example is what you are looking for. (I'd be happy if you leave a review there if it helped).

If you load two hardware components in the same controller_manager, the read/write will happen in the same update loop.

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  • $\begingroup$ Hi, thank you for your reply, the actually fix for our side is to set: ArmHardware::on_init(const hardware_interface::HardwareInfo& info) { info_ = info; ... } at the beginning of the on_init function. Otherwise, the spawned hardware will be confused with the name. $\endgroup$
    – lianghongzhuo
    Commented Jul 18 at 20:35

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