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Hey AndyZe,
the use-case you describe (camera, gripper) is how I would use getEndEffector too.
Multiple end-effectors per group are clearly the intended idea of this part of the code.
You filed https://github.com/ros-planning/moveit/issues/522 rather recently,
and I don't think it's unlikely that there is a bug in the code for some use-cases.
For the use-case with two arms, this is only a reasonable way forward if you need to plan for both arms to move simultaneously. Otherwise it is computationally more easy to use two different planning groups and MoveGroup instances instead.
Maybe you miss a call to clearPoseTargets() in between your different planning requests?
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