MoveIt Task Constructor Tutorial (moveit#300)

* Initial commit for MTC Tutorial

* add updated source code for MTC tutorial package

* Updates to tutorial code and added tutorial text explaining the code

* Typo fixes, formatting fixes, and clarifications

Co-authored-by: Henning Kayser <henningkayser@picknik.ai>

* Added a reference to the concepts section of the MTC example page

* Apply suggestions from code review

Co-authored-by: AndyZe <andyz@utexas.edu>

* Add comment about grasp_frame_transform

* Add note that the SerialContainer is optional

* Disabled clang-format on intentionally-shortened lines for better viewing without needing to scroll

* Updates .repos

* Add hints about several non-intuitive features

* Update panda controllers filenames

* Formatting fix

Co-authored-by: Joe Schornak <joe.schornak@gmail.com>
Co-authored-by: Henning Kayser <henningkayser@picknik.ai>
Co-authored-by: AndyZe <andyz@utexas.edu>
Co-authored-by: AndyZe <zelenak@picknik.ai>

CMakeLists.txt

@@ -10,6 +10,7 @@ find_package(Boost REQUIRED system filesystem date_time thread)
 find_package(ament_cmake REQUIRED)
 find_package(control_msgs REQUIRED)
 find_package(moveit_core REQUIRED)
+find_package(moveit_task_constructor_core REQUIRED)
 find_package(moveit_ros_planning REQUIRED)
 find_package(moveit_ros_planning_interface REQUIRED)
 find_package(moveit_ros_perception REQUIRED)
@@ -50,11 +51,13 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
   Boost
   control_msgs
   moveit_servo
+  moveit_task_constructor_core
 )
 
 include_directories(${THIS_PACKAGE_INCLUDE_DIRS})
 
 add_subdirectory(doc/tutorials/quickstart_in_rviz)
+add_subdirectory(doc/tutorials/pick_and_place_with_moveit_task_constructor)
 # add_subdirectory(doc/examples/controller_configuration)
 # add_subdirectory(doc/examples/interactivity)
 # add_subdirectory(doc/examples/kinematics)

conf.py

@@ -213,6 +213,13 @@
         + "melodic-devel"
         + "/%s",
         "",
+    ),
+    "moveit_resources_codedir": (
+        "https://github.com/"
+        + html_context["github_user"]
+        + "/moveit_resources/tree/ros2"
+        + "/%s",
+        "",
     ),  # TODO(dlu): use ros_distro when noetic-devel branch is available
     # NEED DOCS.ROS.ORG equivalent for foxy
     "ros_documentation": (

doc/examples/moveit_task_constructor/moveit_task_constructor_tutorial.rst

@@ -63,6 +63,8 @@ shown in the right-most window. Selecting one of those solutions will start its
 .. image:: mtc_show_stages.gif
    :width: 700px
 
+.. _moveit_task_constructor_concepts:
+
 Basic Concepts
 --------------
 

doc/tutorials/pick_and_place_with_moveit_task_constructor/CMakeLists.txt

@@ -0,0 +1,16 @@
+add_executable(mtc_tutorial src/main.cpp)
+target_compile_options(mtc_tutorial PUBLIC -g -O0)
+ament_target_dependencies(mtc_tutorial ${THIS_PACKAGE_INCLUDE_DEPENDS})
+
+add_executable(minimal_mtc_tutorial src/minimal.cpp)
+target_compile_options(minimal_mtc_tutorial PUBLIC -g -O0)
+ament_target_dependencies(minimal_mtc_tutorial ${THIS_PACKAGE_INCLUDE_DEPENDS})
+
+install(TARGETS mtc_tutorial minimal_mtc_tutorial
+        ARCHIVE DESTINATION lib
+        LIBRARY DESTINATION lib
+        RUNTIME DESTINATION lib/${PROJECT_NAME})
+
+install(DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}
+)

doc/tutorials/pick_and_place_with_moveit_task_constructor/launch/mtc.rviz

@@ -0,0 +1,330 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Motion Planning Tasks1
+        - /PlanningScene1
+      Splitter Ratio: 0.5
+    Tree Height: 439
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: moveit_task_constructor/Motion Planning Tasks
+    Global Settings:
+      Task View Settings:
+        Show Computation Times: true
+        Task Expansion: All Expanded
+    Name: Motion Planning Tasks
+    Tasks View:
+      property_splitter:
+        - 197
+        - 121
+      solution_sorting:
+        column: 0
+        order: 1
+      solutions_splitter:
+        - 397
+        - 198
+      solutions_view_columns: ~
+      tasks_view_columns:
+        - 295
+        - 26
+        - 26
+        - 48
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: moveit_task_constructor/Motion Planning Tasks
+      Enabled: true
+      Interrupt Display: false
+      Loop Animation: false
+      Markers:
+        All at once?: false
+        Value: true
+      Name: Motion Planning Tasks
+      Robot:
+        Fixed Robot Color: 150; 50; 150
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          panda_hand:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_leftfinger:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link0:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link4:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link5:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link7:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link8:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          panda_rightfinger:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+        Robot Alpha: 0.5
+        Show Robot Collision: false
+        Show Robot Visual: true
+        Use Fixed Robot Color: false
+        Value: ""
+      Robot Description: robot_description
+      Scene:
+        Attached Body Color: 150; 50; 150
+        Scene Alpha: 0.8999999761581421
+        Scene Color: 50; 230; 50
+        Value: true
+        Voxel Coloring: Z-Axis
+        Voxel Rendering: Occupied Voxels
+      Show Trail: false
+      State Display Time: 0.05 s
+      Task Solution Topic: /solution
+      Tasks:
+        Cartesian Path: 0
+      Trail Step Size: 1
+      Value: true
+    - Class: moveit_rviz_plugin/PlanningScene
+      Enabled: true
+      Move Group Namespace: ""
+      Name: PlanningScene
+      Planning Scene Topic: /monitored_planning_scene
+      Robot Description: robot_description
+      Scene Geometry:
+        Scene Alpha: 0.8999999761581421
+        Scene Color: 50; 230; 50
+        Scene Display Time: 0.009999999776482582
+        Show Scene Geometry: true
+        Voxel Coloring: Z-Axis
+        Voxel Rendering: Occupied Voxels
+      Scene Robot:
+        Attached Body Color: 150; 50; 150
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          panda_hand:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_leftfinger:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link0:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link4:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link5:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link7:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          panda_link8:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          panda_rightfinger:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+        Robot Alpha: 1
+        Show Robot Collision: false
+        Show Robot Visual: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: panda_link0
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 3.8008623123168945
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.645397961139679
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.7453980445861816
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1043
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Motion Planning Tasks:
+    collapsed: false
+  Motion Planning Tasks - Slider:
+    collapsed: false
+  QMainWindow State: 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
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1920
+  X: 0
+  Y: 0