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Either create a single udrf/xacro file having two arms and configure moveit or use two moveit with appropriate namespace and tf_prefix. This is my moveit_planning_execution.launch file

<group ns="abb"> <rosparam command="load" file="$(find abb_irb120_support)/config/joint_names_irb120_3_58.yaml"/>

<arg name="db" default="false"/> <arg name="db_path" default="$(find abb_irb120_moveit_config)/default_warehouse_mongo_db"/>

<include file="$(find abb_irb120_moveit_config)/launch/planning_context.launch"> <arg name="load_robot_description" value="false"/> </include>

<include file="$(find abb_irb120_moveit_config)/launch/move_group.launch"> <arg name="publish_monitored_planning_scene" value="true"/> </include>

<include file="$(find abb_irb120_moveit_config)/launch/moveit_rviz.launch"> <arg name="config" value="true"/> </include> <node name="abb_commander" pkg="moveit_commander" type="moveit_commander_cmdline.py" output="screen" launch-prefix="gnome-terminal --command"/>

<include file="$(find abb_irb120_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)"> <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/> </include> </group> </launch>

Either create a single udrf/xacro file having two arms and configure one moveit or use two moveit with appropriate namespace and tf_prefix. This is my moveit_planning_execution.launch file

<group ns="abb"> <rosparam command="load" file="$(find abb_irb120_support)/config/joint_names_irb120_3_58.yaml"/>

<arg name="db" default="false"/> <arg name="db_path" default="$(find abb_irb120_moveit_config)/default_warehouse_mongo_db"/>

refer : this <include file="$(find abb_irb120_moveit_config)/launch/planning_context.launch"> <arg name="load_robot_description" value="false"/> </include>and this