Pick and place using two UR5s
Hello,
I am using a repository from github https://github.com/lihuang3/ur5_ROS-G... which initiates a pick and place task of a object using a UR5. The code seems to work perfectly but now I am planning to use two UR5 instead one for the same task. I can successfully launch two robots but then it doesn't do anything.
Here is my launch file for launching the two robots
```
<?xml version="1.0"?>
<launch>
<param name="red_box_path" type="str" value="$(find ur5_notebook)/urdf/red_box.urdf"/>
<param name="/use_sim_time" value="true" />
<arg name="robot_name"/>
<arg name="init_pose"/>
<arg name="limited" default="true"/>
<arg name="paused" default="false"/>
<arg name="gui" default="true"/>
<arg name="debug" default="false" />
<arg name="sim" default="true" />
<arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
<!-- startup simulated world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" default="worlds/empty.world"/>
<arg name="paused" value="$(arg paused)"/>
<arg name="gui" value="$(arg gui)"/>
</include>
<!-- spawn the conveyor_belt in gazebo -->
<node name="spawn_conveyor_belt" pkg="gazebo_ros" type="spawn_model" args="-file $(find ur5_notebook)/urdf/conveyor_belt.urdf -urdf -model conveyor_belt" />
<!-- spawn the conveyor_belt in gazebo -->
<node name="bin" pkg="gazebo_ros" type="spawn_model" args="-file $(find ur5_notebook)/urdf/bin.urdf -urdf -model bin -y 0.8 -x -0.5 -z 0.05" />
<!-- the red blocks spawner node -->
<node name="blocks_spawner" pkg="ur5_notebook" type="blocks_spawner" output="screen" />
<!-- the cylinder poses publisher node -->
<node name="blocks_poses_publisher" pkg="ur5_notebook" type="blocks_poses_publisher" output="screen" />
<!-- spwan ur5 -->
<!-- send robot urdf to param server -->
<group ns="robot1">
<param name="tf_prefix" value="robot1_tf" />
<include file="$(find ur_gazebo)/launch/ur5.launch">
<arg name="init_pose" value="-z 0.2 -y 0.7"/>
<arg name="robot_name" value="robot1"/>
</include>
<include file="$(find ur5_moveit_config)/launch/move_group.launch">
<arg name="limited" default="$(arg limited)"/>
<arg name="debug" default="$(arg debug)" />
</include>
<node name="ur5_vision" pkg="ur5_notebook" type="ur5_vision.py" output="screen" />
<node name="ur5_mp" pkg="ur5_notebook" type="ur5_mp.py" output="screen" />
<node name="ur5_gripper" pkg="ur5_notebook" type="ur5_gripper.py" output="screen"/>
<remap if="$(arg sim)" from="follow_joint_trajectory" to="arm_controller/follow_joint_trajectory"/>
<!-- Remap follow_joint_trajectory -->
<!-- Launch moveit -->
<!-- the cylinder poses publisher node -->
</group>
<group ns="robot2">
<param name="tf_prefix" value="robot2_tf" />
<include file="$(find ur_gazebo)/launch/ur5.launch">
<arg name="init_pose" value="-z 0.2 -y -0.7"/>
<arg name="robot_name" value="robot2"/>
</include>
<include file="$(find ur5_moveit_config)/launch/move_group.launch">
<arg name="limited" default="$(arg limited)"/>
<arg name="debug" default="$(arg debug)" />
</include>
<node name="ur5_vision" pkg="ur5_notebook" type="ur5_vision.py" output="screen" />
<node name="ur5_mp" pkg="ur5_notebook" type="ur5_mp.py" output="screen" />
<node name="ur5_gripper" pkg="ur5_notebook" type="ur5_gripper.py" output="screen"/>
<remap if="$(arg ...