Codecov Report

Merging #533 (055a7d7) into main (792ce15) will decrease coverage by 0.01%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##             main     #533      +/-   ##
==========================================
- Coverage   54.23%   54.23%   -0.00%     
==========================================
  Files         192      192              
  Lines       20224    20224              
==========================================
- Hits        10967    10966       -1     
- Misses       9257     9258       +1     

Continue to review full report at Codecov.

Legend - Click here to learn more
Δ = absolute <relative> (impact), ø = not affected, ? = missing data
Powered by Codecov. Last update 792ce15...055a7d7. Read the comment docs.

@JafarAbdi your link to the tutorials implies this is for multi-arm support. But I think we should be clear whether this is for:

• Two arms on one robot
• Two robots with one arm each

For the former, users should be using one unified URDF and one MoveGroup, IMHO.

Which use case is this for?

@JafarAbdi your link to the tutorials implies this is for multi-arm support. But I think we should be clear whether this is for:

• Two arms on one robot
• Two robots with one arm each

For the former, users should be using one unified URDF and one MoveGroup, IMHO.

Which use case is this for?

@davetcoleman This's for the second case, I agree that having one MoveGroup node is what we should do in the first case

Reported from discord

Hey, I'm not able to initialize MoveGroupInterface using #533
Calling MoveGroupInterface constructor cause node freeze due to wait_for_servers params equals infinity. With mentioned PR above, move_group action_servers exists within changed path:
/$(namespace)/execute_trajectory
/$(namespace)/move_action
and MoveGroupInterface stuck here https://github.com/ros-planning/moveit2/blob/f601eef5e66e7b6c62e77b55d9f5e9e6706f7335/moveit_ros/planning_interface/move_group_interface/src/move_group_interface.cpp#L153 It is possible to set wait_for_servers for certain time, but then it make impossible to execute robot commands. How to initialize MoveGroupInterface within namespace?

You may reproduce it by using mentioned above PR with corresponding launch file https://github.com/JafarAbdi/moveit2_tutorials/blob/pr-multi_arm/doc/quickstart_in_rviz/launch/demo.launch.py
and the calling move_group interface, e.g. with this launch https://github.com/ros-planning/moveit2_tutorials/blob/main/doc/move_group_interface/launch/move_group_interface_tutorial.launch.py
Adding namespace here or/and modifying yaml params doesn't work.

Sry, now it works, i forgot about slash in constructor
auto mgi_options = moveit::planning_interface::MoveGroupInterface::Options("arm_1_ur_manipulator", "/arm_1/", "arm_1.robot_description");

TODO: Handle slashes for the namespace parameter