This repository contains a simulation of a double armed robot with a gripping demonstration with ROS, MoveIt and WeBots. Both arms are franka emika's Panda. Special thanks to @erdalpekel whose urdf I reused.
cd <catkin_ws>/src
git clone https://github.com/ddonatien/double_panda.git
cd ..
catkin_make ## or catkin build
Open 3 terminals (from your catkin_ws) and follow the instructions in order :
export WEBOTS_HOME=/usr/local/webots ## or your usual WEBOTS_HOME
source devel/setup.bash
roslaunch double_panda panda_world.launch
source devel/setup.bash
roslaunch double_panda move_group.launch
source devel/setup.bash
roslaunch double_panda moveit_rviz.launch
You can also control the robot with Rviz using
source devel/setup.bash
roslaunch double_panda moveit_rviz.launch