Moveit Python available for Ros2 Humble?

[Icon45]

Description

Hi, I wondered if I can use the python api for moveit2, which is described in Picknik Robotics Documentation, in ros2 humble. I have tried ist but can’t get it to work. Now I’m starting to think that it might not be implemented.

Your environment

• ROS Distro: Humble
• OS Version: Ubuntu 22.04
• binary build
• If binary, which release version?: the one described here: https://moveit.ros.org/install-moveit2/binary/

Steps to reproduce

Write a python node and include the lines ‚from moveit.planning import MoveItPy‘ and
‚from moveit.core.robot_state import RobotState‘

build the python row two package that includes the node.
Run the node

Backtrace or Console output

you‘ll get: no module named ‚moveit‘ found

[henningkayser]

The humble branch does not feature the python bindings. However, you can source install MoveIt 2 main with Humble without any issues.

[henningkayser]

sorry, closed wrong issue

[uriel-luviano]

Hi! Is there any way to incorporate the python bindings if I already installed the humble branch? (I need it because the package https://github.com/kroshu/kuka_drivers is not compatible with Iron).
Thanks in advance!

[tylerjw]

You can build the main branch of moveit on humble and then you would have the python bindings. No need to use Iron or Rolling.

[uriel-luviano]

Hi! I tried building the main branch from a Humble installation but I get this error:

Starting >>> moveit_task_constructor_capabilities
--- stderr: moveit_task_constructor_capabilities                                       
/home/uriel/ws_moveit_main/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp: In member function ‘bool move_group::ExecuteTaskSolutionCapability::constructMotionPlan(const Solution&, plan_execution::ExecutableMotionPlan&)’:
/home/uriel/ws_moveit_main/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp:155:14: error: ‘struct plan_execution::ExecutableMotionPlan’ has no member named ‘plan_components’; did you mean ‘plan_components_’?
  155 |         plan.plan_components.reserve(solution.sub_trajectory.size());
      |              ^~~~~~~~~~~~~~~
      |              plan_components_
/home/uriel/ws_moveit_main/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp:158:22: error: ‘struct plan_execution::ExecutableMotionPlan’ has no member named ‘plan_components’; did you mean ‘plan_components_’?
  158 |                 plan.plan_components.emplace_back();
      |                      ^~~~~~~~~~~~~~~
      |                      plan_components_
/home/uriel/ws_moveit_main/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp:159:72: error: ‘struct plan_execution::ExecutableMotionPlan’ has no member named ‘plan_components’; did you mean ‘plan_components_’?
  159 |                 plan_execution::ExecutableTrajectory& exec_traj = plan.plan_components.back();
      |                                                                        ^~~~~~~~~~~~~~~
      |                                                                        plan_components_
/home/uriel/ws_moveit_main/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp:162:27: error: ‘struct plan_execution::ExecutableTrajectory’ has no member named ‘description’; did you mean ‘description_’?
  162 |                 exec_traj.description = std::to_string(i + 1) + "/" + std::to_string(solution.sub_trajectory.size());
      |                           ^~~~~~~~~~~
      |                           description_
/home/uriel/ws_moveit_main/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp:179:27: error: ‘struct plan_execution::ExecutableTrajectory’ has no member named ‘trajectory’; did you mean ‘trajectory_’?
  179 |                 exec_traj.trajectory = std::make_shared<robot_trajectory::RobotTrajectory>(model, group);
      |                           ^~~~~~~~~~
      |                           trajectory_
/home/uriel/ws_moveit_main/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp:180:27: error: ‘struct plan_execution::ExecutableTrajectory’ has no member named ‘trajectory’; did you mean ‘trajectory_’?
  180 |                 exec_traj.trajectory->setRobotTrajectoryMsg(state, sub_traj.trajectory);
      |                           ^~~~~~~~~~
      |                           trajectory_
/home/uriel/ws_moveit_main/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp:188:27: error: ‘struct plan_execution::ExecutableTrajectory’ has no member named ‘controller_name’; did you mean ‘controller_names_’?
  188 |                 exec_traj.controller_name = sub_traj.execution_info.controller_names;
      |                           ^~~~~~~~~~~~~~~
      |                           controller_names_
/home/uriel/ws_moveit_main/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp:191:27: error: ‘struct plan_execution::ExecutableTrajectory’ has no member named ‘effect_on_success’; did you mean ‘effect_on_success_’?
  191 |                 exec_traj.effect_on_success =
      |                           ^~~~~~~~~~~~~~~~~
      |                           effect_on_success_
/home/uriel/ws_moveit_main/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp:192:62: error: ‘struct plan_execution::ExecutableTrajectory’ has no member named ‘description’; did you mean ‘description_’?
  192 |                     [this, sub_traj, description = exec_traj.description](const plan_execution::ExecutableMotionPlan* /*plan*/) {
      |                                                              ^~~~~~~~~~~
      |                                                              description_
In file included from /opt/ros/humble/include/rclcpp/rclcpp/client.hpp:40,
                 from /opt/ros/humble/include/rclcpp/rclcpp/callback_group.hpp:24,
                 from /opt/ros/humble/include/rclcpp/rclcpp/any_executable.hpp:20,
                 from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategy.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/memory_strategies.hpp:18,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executor_options.hpp:20,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executor.hpp:37,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors/multi_threaded_executor.hpp:25,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:21,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /opt/ros/humble/include/moveit/planning_scene_monitor/planning_scene_monitor.h:39,
                 from /home/uriel/ws_moveit_main/install/moveit_ros_move_group/include/moveit_ros_move_group/moveit/move_group/move_group_capability.h:40,
                 from /home/uriel/ws_moveit_main/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.h:44,
                 from /home/uriel/ws_moveit_main/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp:37:
/home/uriel/ws_moveit_main/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp: In lambda function:
/home/uriel/ws_moveit_main/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp:194:87: error: ‘description’ was not declared in this scope
  194 |                                    RCLCPP_DEBUG_STREAM(LOGGER, "apply effect of " << description);
      |                                                                                      ^~~~~~~~~~~

/home/uriel/ws_moveit_main/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp: In member function ‘bool move_group::ExecuteTaskSolutionCapability::constructMotionPlan(const Solution&, plan_execution::ExecutableMotionPlan&)’:
/home/uriel/ws_moveit_main/src/moveit_task_constructor/capabilities/src/execute_task_solution_capability.cpp:203:70: error: ‘struct plan_execution::ExecutableTrajectory’ has no member named ‘description’; did you mean ‘description_’?
  203 |                                                         << exec_traj.description);
      |                                                                      ^~~~~~~~~~~

Am I doing something wrong?