Can I use two move groups simultaneously? processStatus warn

asked 2021-07-09 07:40:30 -0500

polyamid gravatar image

I´d like to use two move groups for my robot, each one with a different planning plugin. My approach was to start two move groups under different namespaces but in this case I continuously get the following warning:

[ WARN] [1625739840.124325616, 6.001000000]: processStatus: Previously received status from [/mg1], but we now received status from [/mg2]. Did the ActionServer change?

Is there a way to "mute" one of these move groups, so that other nodes don´t receive any status updates from it? My goal is to write a program, which is going to switch between these two move groups, depending on which planning planner the user would like to use.

I´m using ROS melodic on Linux Ubuntu 16.04

Any help would be appreciated!

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Comments

I´m using ROS melodic on Linux Ubuntu 16.04

did you build ROS from source? Because Melodic can only be installed on Ubuntu 18.04 otherwise.

Also: "muting" sounds like ignoring the WARNs. That's probably not what you want/should do, as those WARNs are there for a reason.

Finally: MoveIt has gained the ability to use different planners per planning request. Have you looked at that? Because it would seem to make running multiple move_groups unnecessary (if you only did it for the different planners).

gvdhoorn gravatar image gvdhoorn  ( 2021-07-09 13:12:54 -0500 )edit
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