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Add optional add_mtc launch argument to enable MTC ExecuteTaskSolution capability #162

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Add optional add_mtc launch argument to enable MTC ExecuteTaskSolution capability #162

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1c86423
[feat] enable gripper features and add MTC capabilities in launch files
gadorneles Jan 31, 2026
e7e137b
revert a few changes for the pr
gadorneles Jan 31, 2026
e742c9e
[fix] clean up launch file formatting
gadorneles Jan 31, 2026
2ada575
fix: remove unnecessary whitespace in launch file
gadorneles Jan 31, 2026
594ab35
fix: remove unnecessary whitespace in launch_setup function
gadorneles Jan 31, 2026
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26 changes: 16 additions & 10 deletions xarm_moveit_config/launch/_robot_moveit_common.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -60,6 +60,7 @@ def launch_setup(context, *args, **kwargs):
kinematics_suffix = LaunchConfiguration('kinematics_suffix', default='')

use_sim_time = LaunchConfiguration('use_sim_time', default=False)
add_mtc = LaunchConfiguration('add_mtc', default=False)

moveit_config_package_name = 'xarm_moveit_config'
xarm_type = '{}{}'.format(robot_type.perform(context), dof.perform(context) if robot_type.perform(context) in ('xarm', 'lite') else '')
Expand Down Expand Up @@ -237,21 +238,26 @@ def launch_setup(context, *args, **kwargs):
# 'ros.filtered_cloud_topic': 'filtered_cloud',
# }

# MTC ExecuteTaskSolution capability (requires ros-${ROS_DISTRO}-moveit-task-constructor-capabilities)
move_group_params = [
robot_description_parameters,
ompl_planning_pipeline_config,
trajectory_execution,
plan_execution,
moveit_controllers,
planning_scene_monitor_parameters,
# sensor_manager_parameters,
{'use_sim_time': use_sim_time},
]
if add_mtc.perform(context) in ('True', 'true'):
move_group_params.append({'capabilities': 'move_group/ExecuteTaskSolutionCapability'})

# Start the actual move_group node/action server
move_group_node = Node(
package='moveit_ros_move_group',
executable='move_group',
output='screen',
parameters=[
robot_description_parameters,
ompl_planning_pipeline_config,
trajectory_execution,
plan_execution,
moveit_controllers,
planning_scene_monitor_parameters,
# sensor_manager_parameters,
{'use_sim_time': use_sim_time},
],
parameters=move_group_params,
)

# rviz with moveit configuration
Expand Down
14 changes: 10 additions & 4 deletions xarm_moveit_config/launch/_robot_moveit_common2.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -30,20 +30,26 @@ def launch_setup(context, *args, **kwargs):
use_sim_time = LaunchConfiguration('use_sim_time', default=False)
moveit_config_dump = LaunchConfiguration('moveit_config_dump')
rviz_config = LaunchConfiguration('rviz_config', default='')
add_mtc = LaunchConfiguration('add_mtc', default=False)

moveit_config_dump = moveit_config_dump.perform(context)
moveit_config_dict = yaml.load(moveit_config_dump, Loader=yaml.FullLoader)
moveit_config_package_name = 'xarm_moveit_config'

# MTC ExecuteTaskSolution capability (requires ros-${ROS_DISTRO}-moveit-task-constructor-capabilities)
move_group_params = [
moveit_config_dict,
{'use_sim_time': use_sim_time},
]
if add_mtc.perform(context) in ('True', 'true'):
move_group_params.append({'capabilities': 'move_group/ExecuteTaskSolutionCapability'})

# Start the actual move_group node/action server
move_group_node = Node(
package='moveit_ros_move_group',
executable='move_group',
output='screen',
parameters=[
moveit_config_dict,
{'use_sim_time': use_sim_time},
],
parameters=move_group_params,
)

# rviz with moveit configuration
Expand Down
4 changes: 3 additions & 1 deletion xarm_moveit_config/launch/_robot_moveit_fake.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -54,6 +54,7 @@ def launch_setup(context, *args, **kwargs):
geometry_mesh_tcp_rpy = LaunchConfiguration('geometry_mesh_tcp_rpy', default='"0 0 0"')

no_gui_ctrl = LaunchConfiguration('no_gui_ctrl', default=False)
add_mtc = LaunchConfiguration('add_mtc', default=False)
ros_namespace = LaunchConfiguration('ros_namespace', default='').perform(context)

ros2_control_plugin = 'uf_robot_hardware/UFRobotFakeSystemHardware'
Expand Down Expand Up @@ -106,7 +107,7 @@ def launch_setup(context, *args, **kwargs):
geometry_mesh_tcp_xyz=geometry_mesh_tcp_xyz,
geometry_mesh_tcp_rpy=geometry_mesh_tcp_rpy,
).to_moveit_configs()

# robot description launch
# xarm_description/launch/_robot_description.launch.py
robot_description_launch = IncludeLaunchDescription(
Expand All @@ -126,6 +127,7 @@ def launch_setup(context, *args, **kwargs):
'attach_xyz': attach_xyz,
'attach_rpy': attach_rpy,
'no_gui_ctrl': no_gui_ctrl,
'add_mtc': add_mtc,
'use_sim_time': 'false',
'moveit_config_dump': yaml.dump(moveit_config.to_dict()),
}.items(),
Expand Down
2 changes: 2 additions & 0 deletions xarm_moveit_config/launch/xarm6_moveit_fake.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -15,6 +15,7 @@

def generate_launch_description():
hw_ns = LaunchConfiguration('hw_ns', default='xarm')
add_mtc = LaunchConfiguration('add_mtc', default='false')

# robot moveit fake launch
# xarm_moveit_config/launch/_robot_moveit_fake.launch.py
Expand All @@ -25,6 +26,7 @@ def generate_launch_description():
'robot_type': 'xarm',
'hw_ns': hw_ns,
'no_gui_ctrl': 'false',
'add_mtc': add_mtc,
}.items(),
)

Expand Down