Michael ‘v4hn’ Görner (Hamburg University), Robert Haschke (Bielefeld University)
roscon.ros.org/2018/
The MoveIt Task Constructor (MTC) is a recent extension of MoveIt to enable manipulation task planning. It provides a system to design, visualize and plan task-level robot trajectories composed of multiple interdependent sub-stages. In contrast to the previous pick and place manipulation module, it supports users in setting up custom task descriptions in few lines and provides debugging and visualization support along the way.
