Description

Hi,

I'm trying to move 4 move groups on 1 robot simultaneously. I have found out that it is not easy to do so as all of the 4 motion plans pipe into the same action server. However there were some suggestions to use the async_move() function of the move_group class which should provide this functionality. This can be activated by setting group.go(wait=False). However executing this did not change any behavior, all of the 4 groups are still moved one after another. Any help will be appreciated.

Your environment

• ROS Distro: Melodic
• OS Version: Ubuntu 18.04
• Source or Binary build? Source
• If binary, which release version?
• If source, which branch?

Expected behaviour

Groups should be moved simultaneously

Actual behaviour

Same behavior as with wait=True, groups move one after another