moveit_task_constructor
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ros-planning
A hierarchical multi-stage manipulation planner
Hello, I want to use the orientation constraints with the moveit task constructor, it works well with Moveit+ ROS melodic+Ubuntu 18.04. But with Moveit2+ ROS Humble+ Ubuntu 22.04, it planned...
Depends on https://github.com/ros-planning/moveit2/pull/2153 Update pipeline planner to API changes introduced by :point_up:
Depends on https://github.com/ros-planning/moveit2/pull/2043 (Merged but not released 04/05/23) Implement planners proposed by @rhaschke [here](https://github.com/ros-planning/moveit_task_constructor/pull/450#issuecomment-1492246817) FallbackPlanner is a renamed version of the already existing MultiPlanner ported to ROS2 with the extensions,...
Now we have the release repo https://github.com/ros2-gbp/moveit_task_constructor-release, last sync before cutting a release
Hi, I didn't get an answer from the community at ros answers, so maybe it is an issue, or inexperience on my part :-): I am using ROS noetic on...
When adding this [ros msg](https://github.com/ros-controls/control_msgs/blob/kinetic-devel/control_msgs/msg/GripperCommand.msg) to a stage: ```cpp control_msgs::GripperCommand controller_goal; stage->setProperty("controller_goal", controller_goal); ``` I get this warning: ```terminal [ WARN] [1706843311.825944146]: Unregistered property type: control_msgs::GripperCommand_ ``` Do you have...
Generic passthrough propagator for storing user defined properties. Useful for post-planning purposes. We can already setup custom hooks, via properties, in stages for pre/post behavior after planning a task. In...
I've been trying to perform pick and place with MoveIt Task Constructor but the ik_frame and target_frame never seems to overlap as they should. I've made sure that the reference...
I have some tasks, that needs to be deterministic. ### Inverse Kinematic I use `TRAC-IK` because we don't have a closed form solution when accounting for the robot kinematic calibration....
Hi there I'm working on a complicated multi stage pipeline using MTC. As part of a project that needs to evaluate 100's of possible tasks. To manage the execution time...
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A hierarchical multi-stage manipulation planner