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https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
Fix run.launch.py to load planning pipelines
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@ -10,6 +10,7 @@ from moveit_configs_utils import MoveItConfigsBuilder
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def generate_launch_description():
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def generate_launch_description():
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moveit_config = (
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moveit_config = (
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MoveItConfigsBuilder("moveit_resources_panda")
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MoveItConfigsBuilder("moveit_resources_panda")
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.planning_pipelines(pipelines=["ompl"])
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.robot_description(file_path="config/panda.urdf.xacro")
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.robot_description(file_path="config/panda.urdf.xacro")
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.to_moveit_configs()
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.to_moveit_configs()
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)
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)
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@ -21,11 +22,7 @@ def generate_launch_description():
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executable=LaunchConfiguration("exe"),
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executable=LaunchConfiguration("exe"),
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output="screen",
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output="screen",
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parameters=[
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parameters=[
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moveit_config.robot_description,
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moveit_config.to_dict(),
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moveit_config.robot_description_semantic,
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moveit_config.robot_description_kinematics,
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moveit_config.joint_limits,
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moveit_config.planning_pipelines,
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os.path.join(package_shared_path, "config", "panda_config.yaml"),
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os.path.join(package_shared_path, "config", "panda_config.yaml"),
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],
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],
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)
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)
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@ -11,10 +11,13 @@ import time
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import rclcpp
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import rclcpp
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rclcpp.init()
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rclcpp.init()
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node = rclcpp.Node("mtc_tutorial")
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node_options = rclcpp.NodeOptions()
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node_options.automatically_declare_parameters_from_overrides = True
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node = rclcpp.Node("mtc_tutorial", node_options)
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group = "panda_arm"
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group = "panda_arm"
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planner = core.PipelinePlanner(node)
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planner = core.PipelinePlanner(node, "ompl", "RRTConnectkConfigDefault")
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task = core.Task()
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task = core.Task()
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task.name = "constrained"
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task.name = "constrained"
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@ -50,7 +53,8 @@ pose.position.y = 0.0
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pose.position.z = 0.485
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pose.position.z = 0.485
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pose.orientation.x = pose.orientation.w = 0.70711 # 90° about x
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pose.orientation.x = pose.orientation.w = 0.70711 # 90° about x
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mps.addObject(co)
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mps.addObject(co)
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mps.attachObjects(["object"], "panda_hand")
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mps.attachObjects(["object"], "panda_link8")
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mps.allowCollisions("object", ["panda_leftfinger", "panda_rightfinger"], True)
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task.add(mps)
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task.add(mps)
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@ -77,4 +81,4 @@ task.add(move)
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if task.plan():
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if task.plan():
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task.publish(task.solutions[0])
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task.publish(task.solutions[0])
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time.sleep(100)
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time.sleep(500)
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