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control two arms

I want to control two robot arms seperately by using rviz and moveit. For thist, I modified Openmanipulator opensource. (https://github.com/ROBOTIS-GIT/open_manipulator) but I still don't know how I modify that code. I just tried to edit open_manipulator_ctrl/src/position_controller.cpp. but it is still not working. If you have some solutions about this problem, please tell me how to solve this problem. Thanks.