i have a project where i have to control two ur robot arms for welding. each has a different position and one is mounted on a portal that is moving only on two axis. so far with a ubuntu 22.04, ros2 , moveit2 rviz2 and the drivers, https://github.com/UniversalRobots/Universal_Robots_ROS_Driver, provided by universal robot i was able to control one arm using the planning motion in moveit by running these two lines :

• ros2 launch urrobotdriver urcontrol.launch.py urtype:=ur3e robotip:=192.168.102.216 launchrviz:=false initialjointcontroller:=jointtrajectorycontroller

• ros2 launch urmoveitconfig urmoveit.launch.py urtype:=ur3e robotip:=192.168.102.216 launchrviz:=true initialjointcontroller:=jointtrajectorycontroller

However the complexity of the project is higher now. i already have a urdf that that i can use to load two ur robots using the prefixes and my next step would be to create a moveit package using moveit setup assistant but i don't have a clear idea how to control both real arms simultaneously.

how can i handle two drivers at the same time ? what are the steps to achieve that ? what are the controllers that need to be used ? the other part that is unclear to me is how exactly is the arm being controlled ?