diff --git a/doc/examples/moveit_task_constructor/moveit_task_constructor_tutorial.rst b/doc/examples/moveit_task_constructor/moveit_task_constructor_tutorial.rst index bf023a130c..c2b26641f2 100644 --- a/doc/examples/moveit_task_constructor/moveit_task_constructor_tutorial.rst +++ b/doc/examples/moveit_task_constructor/moveit_task_constructor_tutorial.rst @@ -1,8 +1,3 @@ -:moveit1: - -.. - Once updated for MoveIt 2, remove all lines above title (including this comment and :moveit1: tag) - MoveIt Task Constructor ======================= @@ -24,15 +19,10 @@ Installing MoveIt Task Constructor Install From Source ^^^^^^^^^^^^^^^^^^^ -Go into your catkin workspace and initialize wstool if necessary (assuming **~/ws_moveit** as workspace path): :: +Move into your colcon workspace and pull the MoveIt Task Constructor source, where ``<branch>`` can be e.g. ``humble`` for ROS Humble, or ``ros2`` for the latest version compatible with MoveIt 2 ``main``: :: cd ~/ws_moveit/src - wstool init - -Clone MoveIt Task Constructor and source dependencies: :: - - wstool merge https://raw.githubusercontent.com/ros-planning/moveit_task_constructor/master/.rosinstall - wstool update + git clone -b <branch> https://github.com/moveit/moveit_task_constructor.git Install missing packages with rosdep: :: @@ -40,7 +30,8 @@ Install missing packages with rosdep: :: Build the workspace: :: - catkin build + cd ~/ws_moveit + colcon build --mixin release Running the Demo ---------------- @@ -48,13 +39,13 @@ Running the Demo The MoveIt Task Constructor package contains several basic examples and a pick-and-place demo. For all demos you should launch the basic environment: :: - roslaunch moveit_task_constructor_demo demo.launch + ros2 launch moveit_task_constructor_demo demo.launch.py Subsequently, you can run the individual demos: :: - rosrun moveit_task_constructor_demo cartesian - rosrun moveit_task_constructor_demo modular - roslaunch moveit_task_constructor_demo pickplace.launch + ros2 launch moveit_task_constructor_demo run.launch.py exe:=cartesian + ros2 launch moveit_task_constructor_demo run.launch.py exe:=modular + ros2 launch moveit_task_constructor_demo run.launch.py exe:=pick_place_demo On the right side you should see the **Motion Planning Tasks** panel outlining the hierarchical stage structure of the tasks. When you select a particular stage, the list of successful and failed solutions will be