MTC Tutorial

Overview

The mtc_tutorial package demonstrates the use of the MoveIt Task Constructor (MTC) with ROS 2. This package includes example launch files and a C++ source file to help you get started with MTC.

Features

• Demonstrates basic usage of MoveIt Task Constructor in ROS 2
• Example launch files for running the tutorial

Dependencies

the following repositories are needed for the configuration of the UR5e robot with the gripper:

• robot_moveit_config
• UR5e_robotiq_gripper_RViz

Installation

Prerequisites

Ensure you have the following dependencies installed:

• ROS 2 (humble)
• MoveIt 2 (Installation instructions for Humble: MoveIt 2 Humble Installation Guide)

Building the Package

Clone the repository into your ROS 2 workspace along with the necessary dependencies and build it using colcon:

cd ~/ros2_ws/src
git clone https://github.com/Sohaib-Snouber/mtc_tutorial.git
git clone https://github.com/Sohaib-Snouber/robot_moveit_config.git
git clone https://github.com/Sohaib-Snouber/UR5e_robotiq_gripper_RViz.git
cd ~/ros2_ws
colcon build

Usage

Initial Configuration

To configure the necessary components for the UR5e robot with the gripper, run the mtc_demo.launch.py file first:

source ~/ros2_ws/install/setup.bash
ros2 launch mtc_tutorial mtc_demo.launch.py

This launch file sets up the planning context, loads the MoveIt capabilities, starts the move_group node, RViz, static and robot state publishers, and configures the ros2_control for the robot.

Run the MTC Tutorial

After the initial configuration is complete, run the tutorial example using the mtc_tutorial.launch.py file:

ros2 launch mtc_tutorial mtc_tutorial.launch.py

Issues

1 Unrecognized double number:

When running the application, you might encounter the following error:

[rviz2-1] [ERROR] [1717346721.930321592] [moveit_background_processing.background_processing]: Exception caught while processing action 'loadRobotModel': parameter 'robot_description_kinematics.ur5e_arm.kinematics_solver_timeout' has invalid type: Wrong parameter type, parameter {robot_description_kinematics.ur5e_arm.kinematics_solver_timeout} is of type {double}, setting it to {string} is not allowed.

Solution:

To fix this issue, you need to set the LC_NUMERIC environment variable to en_US.UTF-8. You can do this by adding the following line to your .bashrc file:

export LC_NUMERIC=en_US.UTF-8

License

This project is licensed under the Apache License 2.0 - see the LICENSE file for details.

Acknowledgements

Special thanks to the MoveIt and ROS 2 community for their continuous support and development of these powerful tools.