Multiple Hardware Interfaces for the same controller on different computers

[mrunaljsarvaiya]

Hey all. So my robot setup is as follows - A manipulator with 4 joints (2 of these joints are controlled by the main computer(computer1) that runs roscore, whereas the other 2 joints are controlled via a separate computer (computer2) connected to the same ros network. I'm trying to figure out how to setup ros_control such that I can command a move that commands all joints simultaneously. My thoughts so far:

• Setup 2 controllers (one for each computer) and simultaneously command a trajectory. This isn't yet supported Draft: Simultaneous execution of trajectories moveit/moveit#2810
• Use CombinedRobotHW. After looking at the code, its setup to run multiple hardware interfaces on the same computer so I don't think this would work
• Setup a single controller and hwiface on computer1. Use rostopics to communicate the relevant information between computer 1 and 2. This is not ideal, there's a redundant communication layer and efficiency concerns if running high loop rates
• I haven't been able to completely understand what MultiInterfaceController does
  Does anyone have recommendations on how I could set this up?

Thank you!