moveit_task_constructor
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ros-planning
A hierarchical multi-stage manipulation planner
One of the remaining problems that are hard to debug occurs when `Connect` rejects all incoming states as incompatible. In this case everything looks nice in RViz & the logs...
Since https://github.com/ros-planning/moveit_task_constructor/commit/157caac38527677a44b2c5de603939322718608a#diff-32b368f8353f812a564f161db5e3f48fL68 , "target_pose" is not automatically read from interface state anymore. This entails that pretty much every use of the stage has to include `props.configureInitFrom(Stage::INTERFACE, {"target_pose"});` now. E.g. [here](https://github.com/ros-planning/moveit_task_constructor/commit/157caac38527677a44b2c5de603939322718608a#diff-8d5b862c6e5224713399b4e1639ad388R110)....
As stated in https://github.com/ros-planning/moveit_task_constructor/pull/54#pullrequestreview-126131846, we should try to convince MoveIt to create unnamed JointModelGroups programmatically. If this is done, we are not restricted to existing groups anymore (that's important for...
it would be convenient, if a click on 187 (see screenshot) would remove the visualization again. 
As @v4hn pointed out [here](https://github.com/ros-planning/moveit_task_constructor/blob/ce47ac354406fa14d2e3030eeda64eb73f371939/core/src/stages/move_relative.cpp#L275-L279), the arrow marker of a MoveRelative stage is attached to the specified `ik_frame` and not to the frame specified in the `direction` vector or `twist`....
Pick / Place as well as SimpleGrasp / SimpleUnGrasp stages should be modified to use [Grasp msg](http://docs.ros.org/kinetic/api/moveit_msgs/html/msg/Grasp.html). Currently, we have only GenerateGraspPose, which directly operates on named joint states. However,...
PlacePoseGenerator stages are typically wrapped in ComputeIK stages in order to find the corresponding RobotState. In this case, it would be useful to also display the attached object.
See https://github.com/ros-planning/moveit_task_constructor/pull/104#discussion_r312865021 and the proposed solution there.
This effort aims at providing a new generic pick and place planning pipeline based on MTC. Here we can discuss design and specification details. Development PR: https://github.com/ros-planning/moveit_task_constructor/pull/111
I modified the [pick/place demo](https://github.com/ros-planning/moveit_task_constructor/blob/master/demo/src/pick_place_task.cpp#L169-L285) to include the SimpleGrasp stage using [this](https://github.com/ubi-agni/mtc_demos/blob/master/src/baxter.cpp#L59-L89) demo as a guide. The reason is because SimpleGrasp is the only stage that uses the [setForwardedProperties()](https://github.com/ros-planning/moveit_task_constructor/blob/master/core/include/moveit/task_constructor/stage.h#L204) functionality...
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A hierarchical multi-stage manipulation planner