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How run multiple move_group for different robots in single system

asked 2019-02-28 07:29:13 -0500

Vishnuprasad176 gravatar image

Hello,

I am trying to simulate in Gazebo multiple robots(KUKA, UR5 and Franka Panda). In a URDF file included all the robot for simulation and using the Moveit made separate arm group of all three robots. Using the Moveit commander, I can control the robot, and it is working fine. Problem is when I am trying to control all the robot at the same time using the Moveit commander. If one robot is working, then another robot will not work even if I command to it. Is there any way I can work all three robots simultaneously.

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Could it be the calls you're giving to the commander are blocking (you have to wait until they're done before processing the next line)? I know roscpp offers asynchronous commands (look at MoveGroup::asyncMove and asyncExecute) and that might be it?

aPonza gravatar imageaPonza ( 2019-03-01 03:05:45 -0500 )edit

And it seems like the python alternative would be execute with wait=False if that were the problem.

aPonza gravatar imageaPonza ( 2019-03-01 03:08:37 -0500 )edit

Hey so did you manage to solve the problem because I am facing a similar problem in controlling two UR5 with moveit python interface for a pick and place task

mkb_10062949 gravatar imagemkb_10062949 ( 2019-09-17 12:02:28 -0500 )edit

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answered 2019-03-05 15:06:22 -0500

mlautman gravatar image

MoveGroup is not intended to be used that way. You can do one of a few things: 1) Generate a combined RobotTrajectory with all of the joints across your multiple robots included or 2) You can always publish the trajectories directly to the controllers

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Is the problem move_group here or the commander? Running multiple instances of move_group can definitely be done, but a MoveIt Commander instance only connects to one of those.

gvdhoorn gravatar imagegvdhoorn ( 2019-03-06 01:47:18 -0500 )edit

I am using the C++ API for the move_group and I came across the same problem. Running the asyncMove() command results in preempted cancellation of the first move request. Can you guys confirm that this is indeed not doable with move_group ?

A more detailed info on what I am trying to do: I have two planning groups and I want to execute a motion for both of them at the same time. Each planning group has its own instance of move_group however they get piped into the same action server causing the aforementioned problem.

ccetin gravatar imageccetin ( 2019-05-21 19:13:56 -0500 )edit

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Asked: 2019-02-28 07:29:13 -0500

Seen: 186 times

Last updated: Mar 05