{"action":"created","issue":{"url":"https://api.github.com/repos/gavanderhoorn/fanuc_driver_exp/issues/11","repository_url":"https://api.github.com/repos/gavanderhoorn/fanuc_driver_exp","labels_url":"https://api.github.com/repos/gavanderhoorn/fanuc_driver_exp/issues/11/labels{/name}","comments_url":"https://api.github.com/repos/gavanderhoorn/fanuc_driver_exp/issues/11/comments","events_url":"https://api.github.com/repos/gavanderhoorn/fanuc_driver_exp/issues/11/events","html_url":"https://github.com/gavanderhoorn/fanuc_driver_exp/issues/11","id":323491331,"number":11,"title":"Document how to handle external axes / groups","user":{"login":"VictorLamoine","id":5566160,"avatar_url":"https://avatars1.githubusercontent.com/u/5566160?v=4","gravatar_id":"","url":"https://api.github.com/users/VictorLamoine","html_url":"https://github.com/VictorLamoine","followers_url":"https://api.github.com/users/VictorLamoine/followers","following_url":"https://api.github.com/users/VictorLamoine/following{/other_user}","gists_url":"https://api.github.com/users/VictorLamoine/gists{/gist_id}","starred_url":"https://api.github.com/users/VictorLamoine/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/VictorLamoine/subscriptions","organizations_url":"https://api.github.com/users/VictorLamoine/orgs","repos_url":"https://api.github.com/users/VictorLamoine/repos","events_url":"https://api.github.com/users/VictorLamoine/events{/privacy}","received_events_url":"https://api.github.com/users/VictorLamoine/received_events","type":"User","site_admin":false},"labels":[{"id":563791241,"url":"https://api.github.com/repos/gavanderhoorn/fanuc_driver_exp/labels/question","name":"question","color":"cc317c","default":true}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":11,"created_at":"2018-05-16T06:59:19Z","updated_at":"2018-05-22T07:51:23Z","closed_at":null,"author_association":"NONE","body":"Hello Gijs :)\r\n\r\nIt would be nice to document how to to handle extra axis or groups on Fanuc robots with this driver.\r\nAt the moment I'm only interested in getting `ROSSTATE` working on a M710iC with a 2 axis turntable in group 2.\r\n\r\nI've not yet dug the Karel code but maybe you already have examples with this kind of thing?"},"comment":{"url":"https://api.github.com/repos/gavanderhoorn/fanuc_driver_exp/issues/comments/390896474","html_url":"https://github.com/gavanderhoorn/fanuc_driver_exp/issues/11#issuecomment-390896474","issue_url":"https://api.github.com/repos/gavanderhoorn/fanuc_driver_exp/issues/11","id":390896474,"user":{"login":"gavanderhoorn","id":4550046,"avatar_url":"https://avatars0.githubusercontent.com/u/4550046?v=4","gravatar_id":"","url":"https://api.github.com/users/gavanderhoorn","html_url":"https://github.com/gavanderhoorn","followers_url":"https://api.github.com/users/gavanderhoorn/followers","following_url":"https://api.github.com/users/gavanderhoorn/following{/other_user}","gists_url":"https://api.github.com/users/gavanderhoorn/gists{/gist_id}","starred_url":"https://api.github.com/users/gavanderhoorn/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/gavanderhoorn/subscriptions","organizations_url":"https://api.github.com/users/gavanderhoorn/orgs","repos_url":"https://api.github.com/users/gavanderhoorn/repos","events_url":"https://api.github.com/users/gavanderhoorn/events{/privacy}","received_events_url":"https://api.github.com/users/gavanderhoorn/received_events","type":"User","site_admin":false},"created_at":"2018-05-22T07:51:23Z","updated_at":"2018-05-22T07:51:23Z","author_association":"OWNER","body":"> The drivers abstracts groups, which feels good because there is no such thing in ROS from what I know.\r\n\r\nwell .. motion groups do nicely map to ROS namespaces. Or at least, they can be made to map like that.\r\n\r\nThat makes it possible for drivers to relatively easily support asynchronous, but concurrent, execution of trajectories for different motion groups on the same controller.\r\n\r\nSo strictly speaking: no, there is no 'motion group' concept in ROS, but completely abstracting it away might also not be always desirable.\r\n"}}
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