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Humble: Update MoveIt Task Constructor #953

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Sep 9, 2024
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Humble: Update MoveIt Task Constructor #953

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Humble: Update setup commands from ROS1 to ROS2 for MoveIt Task Const…
KarthiAru Aug 26, 2024
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Updating launch commands
KarthiAru Aug 26, 2024
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Formatting: Fixed white space
KarthiAru Aug 26, 2024
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25 changes: 8 additions & 17 deletions doc/examples/moveit_task_constructor/moveit_task_constructor_tutorial.rst
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Original file line number Diff line number Diff line change
@@ -1,8 +1,3 @@
:moveit1:

..
Once updated for MoveIt 2, remove all lines above title (including this comment and :moveit1: tag)

MoveIt Task Constructor
=======================

Expand All @@ -24,37 +19,33 @@ 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: ::

rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO

Build the workspace: ::

catkin build
cd ~/ws_moveit
colcon build --mixin release

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
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