Dual Franka + Moveit with real robots

[DavideSolda]

I am working with a package configured with moveit setup assistant starting from the example of a dual arm+hand URDF file provided in franka decsription (panda robot). My goal is to program through moveit two franka robots. Following the Moveit Setup Assistant documentations:

1. I generated the collision matrix

2. I added a virtual joint, called "world", with child link "base"

3. I added both "panda_1_arm" and "panda_2_arm" with respectively panda_1_joint1 to panda_2_joint8 and panda_2_joint1 to panda_2_joint8 and hand_1 and hand_2 as planning groups

4. I created an arm_position_controller of type position_controllers/JointPositionController with all the joints from panda_1_joint1 to panda_1_joint8 and panda_2_joint1 to panda_2_joint8

Then, I added the following controllers.yaml file:

controller_list:

• name: arm_position_controller
  type: FollowJointTrajectory
  action_ns: follow_joint_trajectory
  default: true
  joints:
  • panda_1_joint1
  • ....
  • panda_2_joint7
• name: franka_gripper
  action_ns: gripper_action
  type: GripperCommand
  default: true
  joints:
  • panda_1_finger_joint1
  • panda_1_finger_joint2
  • panda_2_finger_joint1
  • panda_2_finger_joint2`

However, when I run both:

roslaunch <package_name> move_group.launch, and
roslaunch franka_control franka_combined_control.launch robot_ips:="{panda_1/robot_ip: 172.16.1.3, panda_2/robot_ip: 172.16.0.2}"

I get the following errors:

[FATAL] [1646741944.689482176]: Parameter '~moveit_controller_manager' not specified. This is needed to identify the plugin to use for interacting with controllers. No paths can be executed.

[ WARN] [1646741949.746722512]: Waiting for arm_position_controller/follow_joint_trajectory to come up

[ WARN] [1646741955.746841732]: Waiting for arm_position_controller/follow_joint_trajectory to come up

[ERROR] [1646741961.746962763]: Action client not connected

I'm using Ros-Melodic on Ubuntu 18.04. Could someone show me the solution to these errors?