Integration of 6-axis manipulator and 2-axis positioner (external axes)

@tdl-ua: can you describe the configuration of the Yaskawa controller? How are all the axes configured there? Two groups (one for the 6 axes of the robot, the turntable in another)?

If this is setup as a multi-group system, then you need to configure motoman_driver for that. I can’t be certain that you’ve done that from the description you’ve given here and the packages that you’ve made available.

Just to make sure: refer to this tutorial for an example configuration file (note: the title says “dual arm system”, but the idea is the same for any multi-motion group setup).

Do note that there are (still) some issues with such setups. Be sure to check the ros-industrial/motoman issue tracker.