Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

How to move two movegroup simultaneously with moveit ?

asked 2020-04-20 14:32:27 -0500

rdilare
1 ●1 ●2 ●1

I have two move group in my robot that I want to move simultaneously. With code given below the second move group start moving after first one stop moving.

Is there a way in moveit to move two(or more than two) move group simultaneously ?

def get_plan(group,values):

    joint_goal = group.get_current_joint_values()
    for i,v in enumerate(values):
        joint_goal[i] = v;
    return group.plan(joint_goal)

plan_1 = get_plan(group_1,[0.6, -0.1])
plan_2 = get_plan(group_2,[0.5, 0.0])

group_1.execute(plan_1,wait=True)
group_2.execute(plan_2,wait=True)

I have also tried with wait=False in execute method, but sometime this makes joints in the first move group not move and only moves the joints in the second move group.

Note: I am using kinetic on ubuntu 16.

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2020-04-23 04:41:46 -0500

Simon Steinmann
1

Are two different trajectory execution services created and published to?

edit flag offensive delete link

Comments

these are the execution sevices running:

/move_group/plan_execution/set_parameters
/move_group/trajectory_execution/set_parameters

I am new to Moveit, i have just setup my robot with Setup Assistant and launching the demo.launch. can you please explain why to have two trajectory_execution services. And how can I setup them?

rdilare ( 2020-04-23 09:37:02 -0500 )edit

As asked if one service exists there can be only one active request that is there can only one goal to the action server(in our case it is .execute()). Even u have two move_group you have only one action server so you ll end up preempting the 1st goal sentgroup_1.execute(plan_1,wait=False) to server or executing two goals one after the other. To move the two robots simultaneously you can either send goal to the controller directly or use different moveit config to consider two robots as one so that you can use a single move_group to move two robtos

Karthick_CK ( 2021-07-14 03:13:43 -0500 )edit

add a comment

Question Tools

2 followers

Stats

Asked: 2020-04-20 14:32:27 -0500

Seen: 605 times

Last updated: Apr 20 '20

How to move two movegroup simultaneously with moveit ? edit

1 Answer

Comments

Question Tools

Stats

Related questions

How to move two movegroup simultaneously with moveit ?