Port MoveIt Multiple Arms Tutorial

[Robotawi]

Description

This issue tracks the progress of porting my Multiple Robot Arms Tutorial to MoveIt2. The same steps will be considered and adapted to ROS 2. The goal is to maintain a level of detail that makes it smooth to follow for beginners. I am willing to do this tutorial and any related requirement that facilities it. For example, if there are changes in the MoveIt Setup Assistant that require updating its tutorial, I will be glad to do it. Please feel free to assign related issues to me.

Steps to complete

• [ ] Build the Xacro/URDF model of the multiple arms.
• [ ] Prepare the MoveIt config package using MoveIt Setup Assistant.
• [ ] Write the ROS 2 controllers configuration and launch files.
• [ ] Integrate the simulation in Gazebo with MoveIt motion planning.
• [ ] Plan arm motions with the MoveIt Move Group Interface.

Your environment

• ROS Distro: Humble
• OS Version: Ubuntu 22.04

[AndyZe]

Thanks for making an issue so we can discuss this!

Note that there is a tutorial already: https://moveit.picknik.ai/main/doc/examples/dual_arms/dual_arms_tutorial.html

You could focus on making that tutorial better. Or, what I'd actually prefer, is writing an integration test for some of the tutorials.

[AndyZe]

One thing that tutorial is missing is a JointModelGroup for both arms together, so that the user can plan/execute for both arms simultaneously.