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what is the state of pick and place in moveit2?

Hello everyone,

I have been working on doing some basic pick and place in Moveit2 (ros2 foxy). I have been using the original Moveit tutorials as a guideline as most of the tutorials haven't been ported to moveit2 yet (the pick and place tutorial). The movegroupinterface.pick() function does not seem to be implemented in Moveit2 (yet?). Therefore my question: What is the state of pick and place in Moveit2, is there a different way of approaching pick and place tasks in moveit2?

I have read about the Moveit Task Constructor, does anyone have any information about whether this works in Moveit2 allready? I cant seem to get it to work on my system.

Thank you for your time.

Asked by Thijsons on 2021-09-29 06:20:57 UTC

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I have been using the original Moveit tutorials as a guideline as most of the tutorials haven't been ported to moveit2 yet (the pick and place tutorial).

A few years later now, that link is broken, likely moved to this, which states "deprecated".

A maintainer confirms in moveit2#1951 that the recommended way of implementing pick an place pipeline is to use MTC. There's a tutorial that shows pick and place example. Note that the tool being general purpose, not limited to pick and place.

Asked by 130s on 2023-07-02 04:14:57 UTC

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