Dwen

@DailyNir Yes, two path planners correspond to two robotic arms, but the control logic needs to be planned by itself, for example, using moveit's MoveGroupInterface control.

@DailyNir Sorry, the control started by "dual_xxx" actually integrates the two robotic arms into a whole, so there is only one planner. Although different robotic arms correspond to different Planning...

Since a whole can only have one planner, if you need multiple planners, you can try to start multiple startup scripts that control a single robotic arm (`prefix:=L_ ros_namespace:=L`), and...

@DailyNir One planner can only plan and execute one at a time.

@DailyNir Sorry for taking so long to reply to you. Refer to moveit's [MoveGroupInterface](https://moveit.picknik.ai/humble/doc/examples/move_group_interface/move_group_interface_tutorial.html), and correspondingly, please refer to our xarm_planner package (this package is only for the robotic arm,...

@peterdavidfagan Thank you for your support, there is no plan to support this function at the moment, we will evaluate this work later.

@peterdavidfagan It can be controlled through the API of the SDK or the service of ROS, but it cannot be controlled through the API of moveit for the time being.

@GBW48 Because the structure of Lite Gripper is different from that of XArm Gripper, it cannot be controlled through moveit, so it cannot be simulated. On the real machine, it...

@GBW48 Regarding the use of Lite Gripper (only in real environments), a new routine has been added. You can use it to get the latest code. 1. `ros2 launch xarm_planner...

@GBW48 Sorry, I forgot to tell you that the service controlling Lite6 is not enabled by default. You need to modify the configuration to enable it on demand. For configuration...