Control Multiple Universal Robotic arm in ros2

edit

Thank you it is helpful. but if I want to control both arm simultaneously with different goals and with collision avoidance

You can do this, no problem:

I want to control both arm simultaneously with different goals and with collision avoidance

But not something like this:

Plan a motion for Arm 1
Begin executing for Arm 1
Plan a motion for Arm 2
Begin executing for Arm 2
Arm 1 motion completes
Arm 2 motion completes