moveit_task_constructor
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ros-planning
A hierarchical multi-stage manipulation planner
This is essentially a ROS2 version of the work in #123, plus some additions based on @henningkayser's review of that PR. - Add a new `TrajectoryExecutionInfo` ROS message to hold...
This is similar to this MoveIt2 issue I posted: https://github.com/ros-planning/moveit2/issues/1182 When the ExecuteTaskSolutionCapability [converts the solution message](https://github.com/ros-planning/moveit_task_constructor/blob/27672f8e2dd6ae690308357ac61e6771293084f0/capabilities/src/execute_task_solution_capability.cpp#L146-L189) into a series of `ExecutableTrajectory` objects, it does not have a way to...
I'm not sure if this's a bug in ModifyPlanningScene or a misuse from my side, so I have the following task ``` CurrentState Connect MoveRelative ------------------------------------ ModifyPlanningScene | GeneratePose(monitor CurrentState)...
Copy from https://github.com/ros-planning/moveit_task_constructor/issues/349#issuecomment-1086571488 : > > While this task does find a trajectory that intersects the octomap during the final part of the grasp while avoiding it during the initial...
Is the Bullet collision library compatible with MTC? From my understanding by following the moveit tutorials, only this line of code is needed to choose Bullet over FCL in MTC....
I am trying to follow the moveit tutorials to install Moveit Deep Grasps but compiler fails saying this header is missing. Is this intended and I need to replace them?...
When a stage merges trajectories (either `Connect`, doing it implicitly or a `Merger` stage), the trajectories time parameterization [is computed from scratch](https://github.com/ros-planning/moveit_task_constructor/pull/339#discussion_r819593676) with hard-coded scaling factors. This can unexpectedly speed...
I had to debug a `MoveRelative` stage that was failing for no visible reason. We should improve failure reporting by: - showing the failing pose (this is currently pruned away...
In tasks with many connect stages, the amount of solutions combinatorially explodes. To mitigate this problem, it might be meaningful to limit the overall number of solutions per stage/container.
This interface can be customized by the user to state when/where additional execution hooks should run. This is an initial thread to discuss/extend this idea as discussed in #192
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A hierarchical multi-stage manipulation planner