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Execute solution with MoveItCpp #421

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g-argyropoulos opened this issue Jan 30, 2023 · 2 comments · May be fixed by #459
Open

Execute solution with MoveItCpp #421

g-argyropoulos opened this issue Jan 30, 2023 · 2 comments · May be fixed by #459

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@g-argyropoulos
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Hello,

Is it possible to execute a task solution with MoveItCpp ?
I am trying to end up with a robot_trajectory::RobotTrajectoryPtr that can be used as input to the execute member function of moveitcpp.

Thank you
@rhaschke
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MTC's solutions are richer than those accepted by the default MoveIt execution framework, particularly planning scene changes are performed in addition to the actual robot trajectories. As the MTC code was written before MoveItCpp, direct support is not yet available. However, a PR implementing this is highly welcome. I suggest a call like Task::execute(MoveItCpp& m, const Solution&). Have a look into ExecuteTaskSolutionCapability::goalCallback for the necessary code.

@rhaschke
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rhaschke commented May 4, 2023

I implemented this in #459.

@rhaschke rhaschke linked a pull request May 4, 2023 that will close this issue
Rework execution #459
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@rhaschke rhaschke changed the title [ROS2] Retrieve solution and execute with MoveItCpp Execute solution with MoveItCpp May 4, 2023
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Rework execution ubi-agni/moveit_task_constructor
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@rhaschke @g-argyropoulos