Dual arm robot use isaac_ros_cumotion with erroe

Robotics & Edge Computing Robotics - Isaac Isaac ROS
1

I built a dual-arm robot package named dual_arm_description under workspaces/Isaac_ros_dev/src. This robot has two arms: robot_right_arm (Joint1_1 ~ Joint1_6) and robot_left_arm (Joint2_1 ~ Joint2_6).

By following the isaac_ros_cumotion quick start process, I launched RViz and loaded my dual-arm robot. When the Planning Library is set to OMPL, both arms are able to perform path planning. However, when I switch to cuMotion, it returns “Failed.”

When I attempt path planning for the robot_right_arm (Joint1_1 ~ Joint1_6), the terminal returns the following error:
ValueError: 'Joint2_1' is not in list

Conversely, when planning for the robot_left_arm (Joint2_1 ~ Joint2_6), the terminal returns:
ValueError: 'Joint_1' is not in list

Please refer to the videos:my operation video

terminal output when I launch MoveIt (including RViz)

terminal output when I run the cuMotion planner node

terminal output when I perform Plan & Execute for robot_right_arm

dual_arm_description package of my dual-arm robot

2

Hi @shentunghuang1

We currently don’t support two manipulators, but I will forward your request to the engineering team for a future implementation.

Thank you for your open question.

Best,
Raffaello