MoveItTaskConstructor for the Fetch robot

Setup

Setup workspace ROS Noetic

mkdir ros_workspace
cd ros_workspace/

Clone repository into src directory

git clone https://github.com/hri-ironlab/fetch_mtc.git src

Clone fetch_ros and mtc into src directory

cd src/
git clone https://github.com/ros-planning/moveit_task_constructor.git
git clone --branch ros1 git@github.com:bryceikeda/fetch_ros.git 

Build workspace

cd ..
rosdep install --from-paths src --ignore-src -r -y
catkin build
source devel/setup.bash

Run demo

In three different terminals run the following commands in order

roslaunch task_planner fetch_mtc_demo.launch
roslaunch scene_handler sim_scene.launch
roslaunch task_planner pick_and_place_demo.launch

Other Examples

In two different terminals run the following commands in order

roslaunch task_planner fetch_mtc_demo.launch
roslaunch task_planner task_planner_examples.launch