Dwen

@Akumar201 You can try to use, if this mode can meet your needs.

@pala5 Hello, the mesh_path parameter is defined in xarm_device_macro.xacro. May I ask what error you are reporting now? Can you provide the ROS version you are using?

@efevreowner What version of ROS are you using?

@efevreowner Maybe it's a problem with encoding settings, you can refer to some issues of moveit2 to see if it can be solved. https://github.com/ros-planning/moveit2/issues/1596 https://github.com/ros-planning/moveit2/issues/1782

@Akumar201 That may be related to the configuration of moveit_servo or even the IK algorithm used by moveit. It is especially easy to encounter singularity near the zero point, or...

@DailyNir In order to control dual robot arms in __xarm_planner__, I have added an [example](https://github.com/xArm-Developer/xarm_ros2/blob/humble/xarm_planner/launch/test_dual_xarm_planner_api_joint.launch.py) for you to refer to. Please get the latest code and recompile it.

@DailyNir Because the defined arms are a whole, there is only one move_group, that is, there is only one planner, so `L_xarm6` and `R_xarm6` cannot be planned at the same...

@Royo666 After looking at the terminal output, it seems that the dependency `joint_state_publisher` is missing. You can try to completely recompile the dependency installation and then use it.

@manadaniel Thank you for your support and suggestions. Due to the structure of __Lite Gripper__, moveit control is not supported, so the definition of __Lite Gripper__ has been canceled in...

@manadaniel Sorry, this commit did not explain the situation in detail and misled you. The lite gripper control example provided in this commit [c8736b5](https://github.com/xArm-Developer/xarm_ros2/commit/c8736b5dfd073a9467a3e7472daf5a09aa9e6cb4) is not actually the planner part....