How to control two robot arm with one master

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Do you need synchronised motion between the two MH5s?

Based on your answer to this, there will be two comparable, but slightly different answers (note: I'm assuming you want to use motoman_driver, if not, please clarify your question or ignore my answer):

1. If synchronised motion is not required: you don't need to connect them to the same FS100.

   As to the motoman_driver setup: you run two instances of the driver in separate ROS namespaces. Each motoman_driver instance would connect separately to each FS100. You would get two FollowJointTrajectory action servers, one for each controller.

2. If synchronised motion is required: you should probably connect them to the same FS100 and configure them as two motion groups on the controller.

   There would be a single motoman_driver instance that connects to the controller. No ROS namespaces would be necessary. You would see three FollowJointTrajectory action servers: one for each motion group and one for the combination of all joints. Sending trajectories to the per-group action server would result in async motion (ie: each manipulator is controlled individually). Sending trajectories to the "whole robot" action server would result in synchronised motion across all joints.