moveIT multiple move_group nodes
Hi
Is it possible to run multiple move_group nodes under different name spaces and then specifiy in code which one to use?
I want to control a robot that is running ros including a move_group and a high level interface for that (like go to pos x or move joint to y). Since it runs on a rasperzy pi its computational power is quite poor so i want to do the scene planing including object avoidance on another machine on the network that then should give the execution command to the robot. Therefore I launch a second move_group with planing scene context etc, in a different namespace (/planningNS
)
I figured out how to send the trajectiry to the robot, but i have problems at generating the trajectory since in my code that runs on the "offline" machine i use the move group interface like this :
moveit::planning_interface::MoveGroupInterface::Options loadOptions("arm");
moveit::planning_interface::MoveGroupInterface move_group(loadOptions);
moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
I could not find a way to specify which action servers should be taken for these instances (it takes the one from the /move_group node
, but i want to take those of the /planningNS/move_group
Does anyone of you have experience with running multiple move_group nodes, and how to adress this correctly. The documentation does not say a word about how to do that.
Best
Is this a duplicate of #q281828? If so, please decide which one you'd like to keep open and close the other.
Yes, sorry, somehow the browser screwd up during login and it did not show me that the question was posted, so i reposted, sorry for that. This is the actual question!