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Published 20 hours ago • verified publisher icon ros-planning

Temporarily fix issues with execution of pick+place demo

Open rhaschke opened this issue 11 months ago • 1 comments

  • Connect stage: Relax validity check of reached end state Looks like ROS2 uses a more relaxed goal constraint threshold than ROS1. For this reason, all end states reached by Connect solutions of pick+place demo are rejected. This commit relaxes the max_distance threshold of Connect as well. MoveIt2 maintainers should check MoveIt2's goal constraint threshold and use a similar value in Connect stage. Fixes https://github.com/ros-planning/moveit_task_constructor/issues/540#issuecomment-1988323674

  • Revert "Fix generation of Solution msg: consider backward operation" This reverts commit 4aac679257fb91bed9174096761879d1f14182fc, because MoveIt2 is missing a port of https://github.com/ros-planning/moveit/pull/3538. Fixes https://github.com/ros-planning/moveit2_tutorials/issues/881

rhaschke avatar Mar 12 '24 20:03 rhaschke

I've opened a PR to port the necessary change to moveit2. Once that is in, you don't need to revert that commit anymore I think

sjahr avatar Mar 18 '24 17:03 sjahr