From 445af9c26f4659563ea301f57f0c0078cd8ac72c Mon Sep 17 00:00:00 2001 From: Karthik Arumugham Date: Mon, 26 Aug 2024 16:58:30 +0530 Subject: [PATCH 1/3] Humble: Update setup commands from ROS1 to ROS2 for MoveIt Task Constructor This commit updates the setup and build instructions for the MoveIt Task Constructor from ROS1 to ROS2. The changes include replacing the ROS1 workspace tools and build system with their ROS2 equivalents. Detailed changes: - Replaced `wstool` with direct `git clone` for fetching the MoveIt Task Constructor repository. - Switched from `catkin build` to `colcon build --mixin release` for building the workspace. - Updated launch commands to use ROS2's `ros2 launch` with the appropriate Python launch file. --- .../moveit_task_constructor_tutorial.rst | 25 ++++++------------- 1 file changed, 8 insertions(+), 17 deletions(-) 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..8feef87e8b 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 ```` 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 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 cartesian.launch.py + ros2 launch moveit_task_constructor_demo modular.launch.py + ros2 launch moveit_task_constructor_demo pickplace.launch.py 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 From 77f928aa89384db217fb1f2d2b98760ddda6a2b2 Mon Sep 17 00:00:00 2001 From: Karthik Arumugham Date: Mon, 26 Aug 2024 17:33:07 +0530 Subject: [PATCH 2/3] Updating launch commands Updating launch commands for demos since individual launch files were replaced with common run.launch.py in the moveit/moveit_task_constructor repo. --- .../moveit_task_constructor_tutorial.rst | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) 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 8feef87e8b..1b96252c46 100644 --- a/doc/examples/moveit_task_constructor/moveit_task_constructor_tutorial.rst +++ b/doc/examples/moveit_task_constructor/moveit_task_constructor_tutorial.rst @@ -43,9 +43,9 @@ For all demos you should launch the basic environment: :: Subsequently, you can run the individual demos: :: - ros2 launch moveit_task_constructor_demo cartesian.launch.py - ros2 launch moveit_task_constructor_demo modular.launch.py - ros2 launch moveit_task_constructor_demo pickplace.launch.py + 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 From 95596b6c6a961edc2feacdd67e6b12f8ac75afdc Mon Sep 17 00:00:00 2001 From: Karthik Arumugham Date: Mon, 26 Aug 2024 17:42:23 +0530 Subject: [PATCH 3/3] Formatting: Fixed white space --- .../moveit_task_constructor_tutorial.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 1b96252c46..c2b26641f2 100644 --- a/doc/examples/moveit_task_constructor/moveit_task_constructor_tutorial.rst +++ b/doc/examples/moveit_task_constructor/moveit_task_constructor_tutorial.rst @@ -30,7 +30,7 @@ Install missing packages with rosdep: :: Build the workspace: :: - cd ~/ws_moveit + cd ~/ws_moveit colcon build --mixin release Running the Demo