moveit_task_constructor

moveit_task_constructor copied to clipboard

### Description Hello, I am currently trying to execute a pick and place task using the mobile manipulator stretch. The code (https://github.com/PickNikRobotics/stretch_moveit_plugins/blob/main/pick_place_task/src/pick_place_task.cpp) is from their own repo but the issue...

Giovadess

No rule to make target moveit_task_constructor_msgs - moveit tutorial unable to build

4

Hello, after following the [moveit2 humble tutorial,](https://moveit.picknik.ai/humble/doc/tutorials/getting_started/getting_started.html#install-ros-2-and-colcon) there is an error when running: `colcon build --mixin release` The error is: ``` Starting >>> moveit_task_constructor_msgs --- stderr: moveit_task_constructor_msgs gmake[1]: *** No...

vivithemage

Trajectory execution fails

13

Hello, In order to perform **pick and place** tasks, I use **Moveit2** with **Moveit Task Constructor** with **ROS2 Humble** on **Ubuntu Jammy**. I also use **Gazebo Classic 11** as a...

ConstantRoux

ExecuteTaskSolution action returns no feedback

1

According to the ExecuteTaskSolution action definition, it should provide the IDs and numbers of finished subtrajectories (stages?) as feedback while executing the action. I'm attempting to print that information like...

TheUncivil

Add Constraints to ComputeIK

2

This adds Constraints to the ComputeIK stage, similar to what is done in MoveIt's PositionIKRequest service. This way we can filter out IK solutions before they are discarded anyway during...

VideoSystemsTech

Rework execution

3

This is a draft I had lying around for a while to rework MTC solution execution. Instead of calling the move_group's capability, the idea is to directly interface MoveIt's `TrajectoryExecutionManager`...

rhaschke

Execute solution with MoveItCpp

2

Hello, Is it possible to execute a task solution with MoveItCpp ? I am trying to end up with a _robot_trajectory::RobotTrajectoryPtr_ that can be used as input to the execute...

g-argyropoulos

Combine MTC with core MoveIt packages?

3

I think it would make sense to merge the MoveIt Task Constructor packages in this repo with the core MoveIt packages in http://github.com/ros-planning/moveit and http://github.com/ros-planning/moveit2, so I wanted to check...

schornakj

["Pick and place with moveit task constructor " tutorial example in the branch Humble ](https://moveit.picknik.ai/humble/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.html#) compiles fine, but breaks at run-time with the following error: terminate called after throwing an...

ChandimaFernando

Error building ros2 branch with ros2 humble

2

Environment: ros2 humble and moveit2 installed from binary and up to date. Description: I created a new directory and clone mtc repository and checkout the ros2 branch. I source my...

JSchaaf2