cant interface with dual_xarm6_moveit_fake.launch.py

[DailyNir]

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i am trying to connect the move groups L_xarm6 and R_xarm6 to send them goal points, and plan and execute through code and it is proving fairly difficult and almost imposibble. using ROS2 Humble, please advise for a tutorial or an example code for how to interface with it so i can plan within the rviz environment butthrough a package i write.

thank you.

[vimior]

@DailyNir In order to control dual robot arms in xarm_planner, I have added an example for you to refer to. Please get the latest code and recompile it.

[vimior]

@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 time. Only one of the groups can be planned at the same time.

[DailyNir]

thanks for your code, works great. can i create 2 different move_groups for each arm in order to control both simultaneously ? moreover can i plan in the same scene for both arm simultaneously if i split too 2 move_groups?