moveit_task_constructor/demo
Sebastian Jahr 0e02fcae77 Enable parallel planning with PipelinePlanner (#450)
* Refactor pipeline planner

Make code readable

Re-order plan functions

Make usable with parallel planning

Enable configuring multiple pipelines

Add callbacks

Cleanup and documentation

Add API to set parallel planning callbacks and deprecate functions

Pass pipeline map by reference

Small clang-tidy fix

Update core/src/solvers/pipeline_planner.cpp

Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>

Update core/src/solvers/pipeline_planner.cpp

Format

Refactor to avoid calling .at(0) twice

Use no default stopping criteria

Update fallbacks_move demo

* Cleanup + address deprecation warnings

* Enabling optionally using a property defined pipeline planner map

* Address review

* Disable humble CI for ros2 branch

* Add pipeline planner unittests + some checks

* Add short comment
2024-03-06 15:59:09 +01:00
..
config Port demo to ROS2 2021-11-25 23:02:54 +03:00
include/moveit_task_constructor_demo Merge branch master into ros2 2023-05-26 16:38:15 +02:00
launch Merge branch 'master' into ros2 2023-01-05 16:54:41 +01:00
scripts Provide ComputeIK.ik_frame as full PoseStamped 2023-02-15 17:05:25 +01:00
src Enable parallel planning with PipelinePlanner (#450) 2024-03-06 15:59:09 +01:00
test Merge branch 'master' into ros2 2023-01-05 16:54:41 +01:00
CHANGELOG.rst ros1-0.1.3 2023-03-06 16:37:54 +01:00
CMakeLists.txt Rely on CXXFLAGS definition from moveit_common package 2023-01-05 16:54:46 +01:00
package.xml Merge branch master into ros2 2023-05-26 16:38:15 +02:00
README.md Port demo to ROS2 2021-11-25 23:02:54 +03:00

moveit_task_constructor_demo

Description: A simple pick & place demo using MoveIt Task Constructor. This uses the Panda from Franka Emika

Developed by Henning Kayser & Simon Goldstein at PickNik Consulting

Run

Run demo

ros2 launch moveit_task_constructor_demo demo.launch.py