Controlling only one of several control groups

[cjue]

Has anyone successfully used MotoROS on a controller with several control groups, but restricted MotoROS control to a subset of these?

We have a customer who would like to have one robot externally controlled through MotoROS, while two further manipulators are independently controlled through parallel running jobs (using the Independent Control functionality).

I understand that this will require some modification to INIT_ROS and the mechanism of starting INIT_ROS from MotoROS when /robot_enable is called.

[ted-miller]

I am not aware of anyone using this type of configuration. I suspect that there will be issues, but I'm not certain.

It would likely be easier to separate these groups into independent robot controllers.