MoveIt! dual panda robots (Franka Emika)

Introduction

This is a moveit configuration for controlling 2 Franka Emika robots in gazebo.

Requierments

You need to download the package dual_panda_gazebo for using this package (where the xacro file is). That package is available on my github. Also, you need to have ros controllers installed. Make sure you have generated the IKFast controllers for the moveit configuration. Otherwise specify the following line in kinematics.yaml

kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin

To launch:

Run:

roslaunch panda_dual_gazebo_moveit_config moveit_planning_execution.launch 

How the package was setup

• Used MoveIt! setup assistant, to configure move groups etc.
• Configure controllers (see moveit_controllers.yaml and ros_controllers.yaml)
• Write moveit_planning_execution.launch (meta file for launching everything) and panda_dual_control.launch (launch controllers). Commented line in gazebo.launch to avoid launching the controllers twice.

Notes

DON'T RUN JOINT STATE PUBLISHER WHEN RUNNING GAZEBO. It will interfere.