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PilzDE / pilz_industrial_motion

Industrial trajectory generation for MoveIt!.
https://wiki.ros.org/pilz_industrial_motion
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Multiple robot planning #355

Closed KevinGalassi closed 1 year ago

KevinGalassi commented 2 years ago

Hi, I'm succesfully able to move a robot with moveit and pilz pipeline, but what if i have to plan the motion of multiple robot? Because a can launch moveit in a namespace to differentiate the robot, but when in comes to use pilz API defining robot how can i pass the namespace of the robot to control?

In my specific case i have two robots "left" and "right" that have to move for an assembly task.

Thank your for the attention

ct2034 commented 2 years ago

Hi Kevin. You can pass a planning goup to the commands with the planning_group param. For example for Ptp: Ptp(planning_group="my_group", goal=[0.1, 0, 0, 0, 0, 0])