Motion planning for multiple robots with moveit

asked 2014-06-14 13:13:47 -0600

b3l33 gravatar image

I am trying to use moveit to plan/execute motion for several robots in parallel. Currently each robot agent sends planning requests to a singular move_group node independently. This is failing: multiple planning requests pre-empt or otherwise interfere with each other.

I would like to attempt to run multiple instances of the moveit (one for each agent) as a work around. However, my attempts to do so have been unsuccessfull. I have attempted to use the ns parameter in the launch files but the agents hang instantiating their MoveGroup (they are able to download the URDF from the parameter server but it appears they are not able to connect to the move_group node).

Has anyone had any success in this area? Can anyone guide me on how to do this? I am still a novice at roslaunch and would greatly appreciate the help.

Thank you in advance.

--Ben

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Comments

Ben, Have you had any developments with this?

Chris.

cmeaclem gravatar imagecmeaclem ( 2014-10-20 17:45:11 -0600 )edit

Ben,

I am hoping yo8u have some updates, since we desire to do the same thing :)

Chris.

cmeaclem gravatar imagecmeaclem ( 2015-08-16 18:15:55 -0600 )edit

Any update on this?

Sidd gravatar imageSidd ( 2017-08-21 14:13:22 -0600 )edit

I guess i kind of did it. By putting everything in an other namespace, the two move groups can coexist. Who doesn't get along is rviz. Somehow rviz gets confused with the two robot defintions, even though they should be in different spaces. So it's not a solution yet. I will go on trying.

Panda1638 gravatar imagePanda1638 ( 2017-08-22 10:53:09 -0600 )edit

The work around I had for this was to define an individual group for each of the robot, and have one super group with each of the robot groups as sub groups. If the end effectors, and the kinematics are defined correctly according to the namespaces, it seemed to work well.

Sidd gravatar imageSidd ( 2017-08-22 11:19:33 -0600 )edit

So you ran only one move group node?

Panda1638 gravatar imagePanda1638 ( 2017-08-24 04:31:43 -0600 )edit

Yes, it was a single move group node.

Sidd gravatar imageSidd ( 2017-08-24 13:40:33 -0600 )edit

How did u manage the ip address of robot. Bothe robot will hav different ip right. How did u control different move group having different ip address

Abhishekpg gravatar imageAbhishekpg ( 2019-12-05 12:20:43 -0600 )edit