instantiate two instances of moveit_commander

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Thanks, I never tried making more than one moveit_commander instance, though I'm a little confused as to how to do so. In the move group tutorial for kinetic, the initialization for the moveit_commander is moveit_commander.roscpp_initialize(sys.argv). So would I be able to create two instances of the moveit_commander inside the same class or will I need two different classes?

I clarified my answer, it was imprecise. I am actually not familiar with connecting to multiple move_group instances - what I recommend is to define your robots as planning groups inside a single move_group in the global namespace, and connect multiple moveGroupCommander objects to those planning groups. This works very well and ensures that each robot knows about the position of the other. If you have them in separate move groups, this is generally not the case.

This is not the prettiest example, but feel free to use it: https://github.com/o2as/ur-o2as/blob/...