Hi
Is it possible to run multiple move_group nodes under different name spaces and then specifiy in code which one to use?
I want to control a robot that is running ros including a move_group and a high level interface for that (like go to pos x or move joint to y). Since it runs on a rasperzy pi its computational power is quite poor so i want to do the scene planing including object avoidance on another machine on the network that then should give the execution command to the robot. Therefore I launch a second move_group with planing scene context etc, in a different namespace (`/planningNS`)
I figured out how to send the trajectiry to the robot, but i have problems at generating the trajectory since in my code that runs on the "offline" machine i use the move group interface like this :
moveit::planning_interface::MoveGroupInterface::Options loadOptions("arm");
moveit::planning_interface::MoveGroupInterface move_group(loadOptions);
moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
I could not find a way to specify which action servers should be taken for these instances (it takes the one from the `/move_group node`, but i want to take those of the `/planningNS/move_group`
Does anyone of you have experience with running multiple move_group nodes, and how to adress this correctly. The documentation does not say a word about how to do that.
Best
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