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MoveIt! for multiple robots

asked 2018-10-30 08:18:20 -0500

mewbot gravatar image

updated 2018-10-30 13:53:47 -0500

gvdhoorn gravatar image

I've spawned 2 similar robots(with their controllers) with distinct namespaces (robot1,robot2) in Gazebo according to this. I intend to run two separate moveit instances to control them.

For now I've been trying to control one of them while the other is present in simulation. The problem that I face is that gazebo publishes joint states as robot1/joint_states and robot2/joint_states but I get an error saying joint_states not found. So I remapped robot1/joint_states to /joint_states and all works fine but this would be a problem when i try to control the second robot. The rqt_graph after remap is attached : C:\fakepath\rosgraph2.png

how can I make moveit subscribe to robot1/joint_states ? or is there any other way to do this ?

PS : I do not want to run both robots using the same moveit node

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Will it work if i include moveit also in 'robot1' namespace

mewbot gravatar image mewbot  ( 2018-10-30 10:14:30 -0500 )edit

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answered 2018-10-31 01:23:39 -0500

mewbot gravatar image

I solved it !

Adding a <group ns="robot1"> tag inside my moveit launch file brought the whole moveit into my "robot1" namespace. Here is the new rqt_graph :image description

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Hi did u used single urdf file for both the robots??

Abhishekpg gravatar image Abhishekpg  ( 2019-12-05 12:29:03 -0500 )edit

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Asked: 2018-10-30 08:18:20 -0500

Seen: 1,827 times

Last updated: Oct 31 '18