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moveit / moveit_task_constructor

A hierarchical multi-stage manipulation planner
https://moveit.github.io/moveit_task_constructor
BSD 3-Clause "New" or "Revised" License
176 stars 150 forks source link

ROS2 MTC Python API #563

Closed matthias88 closed 3 months ago

matthias88 commented 5 months ago

Hey there,

i am trying to port my ROS1 noetic project to ROS2 humble. The only show-stopper is, that there is no working Python API for Moveit task constructor, am I right? At least I wasn't able to find and work with it.

In the ROS2 and Humble branches the Python example scripts are not updated and modules from ROS1 are imported.

Is there a workaround, except using CPP?

Many thanks

rhaschke commented 5 months ago

The Python API is on my todo list for a long time, but I couldn't find time for it yet. Remember that this development is an voluntary action.

matthias88 commented 5 months ago

The Python API is on my todo list for a long time, but I couldn't find time for it yet. Remember that this development is an voluntary action.

Thank you for the quick response. I am aware that this library is a voluntary action and I want to tell you what a great package you have created with MTC. Is there already a ROS2 pybind preparatory work on which I could build? Is it enough to adjust the namespaces/headers of https://github.com/ros-planning/moveit_task_constructor/tree/master/core/python/bindings, or are there any breaking changes to consider?

karanchahal commented 3 months ago

Hi I was wondering the same thing, so ROS2 is not supported by Move it task constructor, correct ?

rhaschke commented 3 months ago

I just finished porting the Python API. As the node needs to access ROS parameters, one needs to run it via a launch script: ros2 launch moveit_task_constructor_demo run.launch.py exe:=cartesian.py

It also needs the latest version of py_binding_tools.