multiple move_it for multiple robots ?

[abhishekpg01]

Hi,

i have two aubo_i5 robot. i want to launch two different move_it node to control these two robots. im trying this by using namespace "right" for one robot and "left" for another robot. But im getting below error while launching moveit_planning_execution.launch.

[ INFO] [1576480644.039751286]: No root/virtual joint specified in SRDF. Assuming fixed joint
[ INFO] [1576480645.786946156]: Starting scene monitor
[ INFO] [1576480645.789658990]: Listening to '/right/move_group/monitored_planning_scene'
[ INFO] [1576480645.790674093]: waitForService: Service [/right/get_planning_scene] has not been advertised, waiting...
[ WARN] [1576480646.456621415]: Waiting for aubo_i5_controller/follow_joint_trajectory to come up
[ INFO] [1576480650.799120888]: Failed to call service get_planning_scene, have you launched move_group? at /tmp/binarydeb/ros-kinetic-moveit-ros-planning-0.9.17/planning_scene_monitor/src/planning_scene_monitor.cpp:491
[ INFO] [1576480650.897982490]: Constructing new MoveGroup connection for group 'manipulator_i5' in namespace ''
[ INFO] [1576480650.898180282]: Starting scene monitor
[ INFO] [1576480650.901334371]: Listening to '/move_group/monitored_planning_scene'
[ INFO] [1576480650.903102921]: waitForService: Service [/right/get_planning_scene] has not been advertised, waiting...
[ WARN] [1576480652.456844053]: Waiting for aubo_i5_controller/follow_joint_trajectory to come up
[ INFO] [1576480655.908696907]: Failed to call service get_planning_scene, have you launched move_group? at /tmp/binarydeb/ros-kinetic-moveit-ros-planning-0.9.17/planning_scene_monitor/src/planning_scene_monitor.cpp:491
[ERROR] [1576480658.457149860]: Action client not connected: aubo_i5_controller/follow_joint_trajectory
[ INFO] [1576480658.490157374]: Returned 0 controllers in list
[ INFO] [1576480658.582958219]: Trajectory execution is managing controllers

even with one robot, if i add namespace to my group it is getting error. my launch file is as below.

<?xml version="1.0"?>
<launch>
  <group ns="right">
  <!-- The planning and execution components of MoveIt! configured to run -->
  <!-- using the ROS-Industrial interface. -->
  <rosparam command="load" file="$(find aubo_i5_moveit_config)/config/joint_names.yaml"/>
  <!-- the "sim" argument controls whether we connect to a Simulated or Real robot -->
  <!--  - if sim=false, a robot_ip argument is required -->
  <arg name="sim" default="false" />
  <arg name="robot_ip" value="192.168.1.103"/>

  <!-- load the robot_description parameter before launching ROS-I nodes -->
  <include file="$(find aubo_i5_moveit_config)/launch/planning_context.launch" >
    <arg name="load_robot_description" value="true" />
  </include>
 <!-- industrial_robot_simulator: accepts robot commands and reports status -->
  <node pkg="aubo_controller" type="aubo_robot_simulator" name="aubo_robot_simulator"/>

  <!-- joint_trajectory_action: provides actionlib interface for high-level robot control -->
  <node pkg="aubo_controller" type="aubo_joint_trajectory_action" name="aubo_joint_trajectory_action"/>

  <!-- run the "real robot" interface nodes -->
  <!--   - this typically includes: robot_state, motion_interface, and joint_trajectory_action nodes -->
  <!--   - replace these calls with appropriate robot-specific calls or launch files -->
  <!--<group unless="$(arg sim)">
    <include file="$(find aubo_i5_moveit_config)/launch/robot_interface.launch" >
      <arg name="robot_ip" value="$(arg robot_ip)"/>
    </include>
  </group> -->

 <!-- publish the robot state (tf transforms) -->
  <node name="aubo_driver" pkg="aubo_driver" type="aubo_driver" >
  <param name="/server_host" type="str" value="$(arg robot_ip)"/>
  <!--<param name="/server_host" value="127.0.0.1"/> -->
  </node>

  <!-- publish the robot state (tf transforms) -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />

  <include file="$(find aubo_i5_moveit_config)/launch/move_group.launch">
    <arg name="publish_monitored_planning_scene" value="true" />
  </include>

  <include file="$(find aubo_i5_moveit_config)/launch/moveit_rviz.launch">
    <arg name="config" value="true"/>
  </include>
  </group>
  <!--<include file="$(find aubo_i5_moveit_config)/launch/default_warehouse_db.launch" />-->
</launch>

[welcome[bot]]

Thanks for reporting an issue. Because we're a volunteer community, providing a pull request with suggested changes is always welcomed.

[felixvd]

Does it work without the namespace? This looks like an issue of your setup rather than a bug.