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what is the state of pick and place in moveit2?

asked 2021-09-29 06:20:57 -0600

Thijsons gravatar image

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 move_group_interface.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.

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answered 2023-07-02 04:14:57 -0600

130s gravatar image

updated 2023-07-02 08:39:38 -0600

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.

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Asked: 2021-09-29 06:20:57 -0600

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Last updated: Jul 02 '23