moveIT multiple move_group nodes

asked 2018-02-05 11:28:08 -0500

smaassen gravatar image

updated 2018-02-05 11:31:20 -0500

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.

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Comments

Is this a duplicate of #q281828? If so, please decide which one you'd like to keep open and close the other.

gvdhoorn gravatar imagegvdhoorn ( 2018-02-06 02:41:59 -0500 )edit

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!

smaassen gravatar imagesmaassen ( 2018-02-06 06:03:09 -0500 )edit