Can I control 2 different robots?

[torydebra]

Hi,

I was wondering if I can have more than one robot "active" with xbot2. For example, I want to play with two different arms:
command the first one, read some sensor on the second, command the first again, and then command the second.

From what I understand, xbot read the config yaml file where a robot description and its plugins are specified; hence, can I run multiple istance of xbot2-core on the same machine?

[alaurenzi]

I'll work on this at some point in the future. Basically we need:

• to namespace the internal ROS node and all topics
• to create all shared memory devices in sub-folders so they don't conflict
• maybe something else :D