Simultaneous Trajectory Execution example environment (panda dual-arm)

Small demo project planning and executing random poses for two panda robots simultaneously. As part of the GSoC 2022 MoveIt's Simultaneous Trajectory Execution project.

Developed on ROS Noetic.

Docker Installation

git clone https://github.com/cambel/moveit_simultaneous_motions_demo.git
git submodule update --init --recursive
cd moveit_simultaneous_motions_demo/docker
bash launch_container.sh

Inside the docker:

apt update
source /opt/ros/$ROS_DISTRO/setup.bash
rosdep update
rosdep install --from-paths src --ignore-src -r -y
catkin build && source devel/setup.bash

Run demo

run in two shells

roslaunch moveit_resources_dual_panda_moveit_config demo.launch 
rosrun panda_dual_arm_demo simple_path