moveit_task_constructor
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ros-planning
A hierarchical multi-stage manipulation planner
Merge of #380 into ros2 branch (and resolving conflicts). This fixes #359.
This fixes #359. There were actually two major issues: 1. #304 broke Cartesian interpolation, wrongly calculating the target frame when rotations were involved (see videos below, were the endeffector should...
I've customized Connect and MoveTo stages so they display collisions when they fail. I've done this by adding markers to the solution inside compute function. MoveTo stages work perfectly, but...
I went through all commits pushed onto the `ros2` branch in recent months from PickNik's side and cleaned them up to the standards of this repo. Many of them I...
@rhaschke I have some questions around the changes you created on the ros2 branch. I'd like to use this PR to understand them better and potentially make some updates.
- 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...
hello, i follow the tutorial for pick and place, when i build moveit_task_constructor i get a lot of errors (moveit_core) uctor/merge.h:42:10: fatal error: moveit/trajectory_processing/time_parameterization.h: No such file or directory 42...
It is my understanding that the `MoveRelative` stage min/max distance cannot be used with Pilz Industrial Motion Planner in it's default behaviour: The min/max distance option relies on an early...
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A hierarchical multi-stage manipulation planner