My company is trying to use ROS to coordinate between multiple ABB robots, operating at different times, and with different operator-specific trajectories. Basically, the operators define and run their own robot paths at different times during the day, so they are required to standby to prevent collisions (note robot speeds are quite low). Recently we have decided to utilize live position feedback which we are currently able to send to a ros server. We want to use this feedback to coordinate between the robots so they can avoid collisions on their own. Unfortunately, we are not able to send real time remote movement commands to the robot because it is just not viable for the S4C+ controller models we are working with (No socket connection and serial is too slow) - if other suggestions, please share!.
How can we use the live position data we receive from all the robots to perhaps send stop signals (which is possible) when robots are about to collide based on the current trajectory and timing of their current positions?
Right now, we are able to visualize one robot in real time on RViz, so I am wondering if it is possible to visualize multiple robots in Rviz and dictate when they will collide, then possibly sending a signal to the robots to have them stop or run a canned home trajectory to have them sync up?
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