moveit_task_constructor/demo/scripts/multi_planner.py
2024-07-13 03:03:44 +02:00

70 lines
1.7 KiB
Python
Executable File

#! /usr/bin/env python3
# -*- coding: utf-8 -*-
from moveit.task_constructor import core, stages
import rclcpp
import time
rclcpp.init()
node = rclcpp.Node("mtc_tutorial")
ompl_planner = core.PipelinePlanner(node, "ompl", "RRTConnectkConfigDefault")
pilz_planner = core.PipelinePlanner(node, "pilz_industrial_motion_planner", "PTP")
multiPlanner = core.MultiPlanner()
multiPlanner.add(pilz_planner, ompl_planner)
# Create a task
task = core.Task()
task.name = "multi planner"
task.loadRobotModel(node)
# Start from current robot state
currentState = stages.CurrentState("current state")
# Add the current state to the task hierarchy
task.add(currentState)
# The alternatives stage supports multiple execution paths
alternatives = core.Alternatives("Alternatives")
# goal 1
goalConfig1 = {
"panda_joint1": 1.0,
"panda_joint2": -1.0,
"panda_joint3": 0.0,
"panda_joint4": -2.5,
"panda_joint5": 1.0,
"panda_joint6": 1.0,
"panda_joint7": 1.0,
}
# goal 2
goalConfig2 = {
"panda_joint1": -3.0,
"panda_joint2": -1.0,
"panda_joint3": 0.0,
"panda_joint4": -2.0,
"panda_joint5": 1.0,
"panda_joint6": 2.0,
"panda_joint7": 0.5,
}
# First motion plan to compare
moveTo1 = stages.MoveTo("Move To Goal Configuration 1", multiPlanner)
moveTo1.group = "panda_arm"
moveTo1.setGoal(goalConfig1)
alternatives.insert(moveTo1)
# Second motion plan to compare
moveTo2 = stages.MoveTo("Move To Goal Configuration 2", multiPlanner)
moveTo2.group = "panda_arm"
moveTo2.setGoal(goalConfig2)
alternatives.insert(moveTo2)
# Add the alternatives stage to the task hierarchy
task.add(alternatives)
if task.plan():
task.publish(task.solutions[0])
time.sleep(1)