Recreating the same for other robots

[rithuraj-techolution]

Currently the repo supports mostly the UR robots, how can we recreate this for other robots as well?
Is there any approach of doing so?

[jr-b-reiterer]

Hi @rithuraj-techolution,

the rough approach would be to derive a new robot_server package from the ur_robot_server package and replacing all UR-specific things to match your robot and controller setup so that commands can go in and state can come out - mainly in the ros_bridge and command handler script; also the launch file will need many adaptations.

A WIP example of this approach can be seen in the panda_robot_server package. There is follow-up work on this by the community, e.g., #15.

Of course you would also need matching environments for your new robot server.