MoveIt Task Constructor

MoveIt Task Constructor

Build packages

Setup your catkin workspace extending /opt/ros/:

sudo apt-get install ros-<distro>-moveit ros-<distro>-moveit-resources
catkin config --extend /opt/ros/<distro>
# Clone MTC and panda_moveit_config
cd src
git clone -b tutorial https://github.com/ubi-agni/moveit_task_constructor.git
git clone https://github.com/ros-planning/panda_moveit_config.git
cd ..
# Fetch dependencies
rosdep install -y -q -n --from-paths src --ignore-src
# Build
catkin build

Run example

source devel/setup.bash
roslaunch moveit_task_constructor_demo demo.launch
rosrun moveit_task_constructor_demo cartesian

Setup rviz

• Add display Motion Planning Tasks