UTKARSH RAI comments

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                                            UTKARSH RAI

Tutorial for running multiple groups/arms.

Thanks for the review! I will make the necessary changes.

Large time taken for feature matching between query and database images for pitts30k

So, my performance.ini file looks something like this - ``` [feature_extract] batchsize = 5 cachebatchsize = 5 imageresizew = 640 imageresizeh = 480 [feature_match] matcher = RANSAC n_values_all = 1,5,10,20,50,100...

Large time taken for feature matching between query and database images for pitts30k

Hello @Tobias-Fischer , could you provide some hints as to why this might be happening? Also, what is the usual expected time for the feature matching process to get completed?

Running multiple move_groups and/or robot arms

Hello, I am in the process of writing a short tutorial for this. Can someone kindly suggest best practices for writing such tutorials?

Running multiple move_groups and/or robot arms

I have opened a pull request that provides tutorial for synchronous movement, [here](https://github.com/ros-planning/moveit_tutorials/pull/621)

Executing multiple trajectories with different controllers is not supported

Hello, going through the comments, it seems that the agreed upon way for simultaneous trajectory execution is by sending FollowJointTrajectory actions to the ros controllers. > The TrajectoryExecutionManager would know...

Executing multiple trajectories with different controllers is not supported

> A few thoughts, not only for you: > > * Yes, when a new trajectory is to be executed, TEM should check for collisions with the currently active trajectories....