control two different robots with two different planning motions group at the same time

hello , i want to control two robots (ur10e) using Moveit2. the idea is to create two different planning groups for each arm and control them separately. is there a way to

Plan a motion for Arm_1
Begin executing for Arm_1
Plan a motion for Arm_2
Begin executing for Arm2 **while Arm1 is still executing the motion**

Asked by awhichi on 2022-12-02 10:57:36 UTC

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Answers

There's a PR to do that in MoveIt1 but not in MoveIt2 yet.

https://github.com/ros-planning/moveit/pull/3243

Asked by AndyZe on 2022-12-04 09:50:47 UTC