Dual arm correct setup

[josemoreno98]

Hi,

I'm interested in designing a controller to perform manipulation tasks with 2 robotic arms, but I have doubts about the correct setup for that.

What configuration should I have to run the dual_arm_cartesian_impedance_example_controller.launch example? At the moment, I have established the connection between a computer and both robotic arms, but when communicating with the other arm, I have to disconnect from the first one.

Thank you very much for your help.