moveit_task_constructor

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Using MTC to Plan a Circular Path

6

@JafarAbdi, I'm having issues trying to use the ros2 branch of MTC to plan a circular path around a non-TCP frame (that already includes PR #322). I wrote up a...

swiz23

[ros2]: TODOs

2

- [ ] Fix the change to RemoteTaskModel to have an internal node for the GetSolution client (not having it will cause the client to never be able to get...

JafarAbdi

Stage::pointer vs. Stage::reference

6

We need to distinguish owned stage instances from referenced, not-owned ones. See https://github.com/ros-planning/moveit_task_constructor/issues/139#issuecomment-592389785.

rhaschke

New grasp pose generator stage

34

This PR introduces a new stage called `GraspProvider`. This stage uses [grasping_msgs::GraspPlanningAction](https://github.com/mikeferguson/grasping_msgs/blob/ros1/action/GraspPlanning.action) to communicate with an action server external to MTC. The action server is used to provide grasp candidates...

bostoncleek

Remove collision objects as final step

2

Signed-off-by: Tyler Weaver This is useful because if you write a stage that detaches and removes an object it does not perform as you'd expect.

tylerjw

[ros2]: Fixed preempting of execution

3

Same as https://github.com/JafarAbdi/moveit_task_constructor/pull/6

JafarAbdi

[ros2]: Launch files simplifications

1

Depends on: https://github.com/ros-planning/moveit2/pull/1283 and https://github.com/ros-planning/moveit_resources/pull/139

JafarAbdi

Using ExecuteTaskSolutionCapability to execute a solution is overriding the joint state values

2

This is happening because in [execute_task_solution_capability.cpp#L179](https://github.com/ros-planning/moveit_task_constructor/blob/master/capabilities/src/execute_task_solution_capability.cpp#L179) it modifies the state in the planning scene monitor which overrides the values from `/joint_states`, `/tf`, `/tf_static` topics Possible fixes could be 1- Reset...

JafarAbdi

[WIP] Add pick-place capability

2

This PR is to continue the work from PR #111 The aim is to provide a Pick-Place planning pipeline based on MTC. During the design, I tried to keep the...

karolyartur

Add property to make pruning optional

1

Fix: https://github.com/ros-planning/moveit_task_constructor/issues/256

JafarAbdi