Dual Robot Tutorial real Hardware

[B-ijan]

Hello,
the documentation of the tutorial Dual Arms with MoveIt suggests that there is a possibility to use this setup with real robots. However, in the source code provided, I could not find a launch file for using two real robots, only the demo in RViz. Are there any additional resources or instructions for running the setup with real robots? If not, is there any plan to provide these files in the future?
Thank you!

[sea-bass]

So, all the tutorials in MoveIt communicate through the ROS 2 control framework with the simple simulations. The idea being that you don't have to change anything if your real hardware also is using it.

See https://control.ros.org/rolling/index.html for more information.

Specifically, these tutorials all use ROS 2 controls mock components functionality, which is interchangeable with real hardware.

In the case of the Franka arms in that specific tutorial, the franka_ros2 repo is a good place to start: https://github.com/frankaemika/franka_ros2