How to set different motion planner using python bindings #709
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rhaschke
matthias-ploner
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Hello, I am attempting to configure a different motion planner using the Python bindings (ROS2 branch), but I am encountering difficulties. This issue occurs not only with my application but also with the demo scripts, such as constrained.py, even after slight modifications for setting the planner (pymoveit_mtc.core.PlannerInterface). Execution: Terminal1: Terminal2: I consistently get following warning: Could you please advise on what might be causing this issue? Thank you for your assistance. |
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Answered by
rhaschke
Oct 4, 2025
Replies: 3 comments 6 replies
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I'm not very familiar with the new definition of planning pipelines in MoveIt2. Maybe @henningkayser can help? |
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Thanks for your fast reply. If I list all params of move_group I get: and for panda_arm planner configs I get: If i plan and execute with the Moveit Motion Planning Plugin in RViz I dont have any issues. I am using ros-jazzy-moveit binary version: 2.12.3-1noble.20250624.064156 |
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Note that these parameters need to be defined in the scope of the MTC node! |
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In the scope of the MTC node I don't get the OMPL planner configs and planning pipelines, but I have no clue why: According to https://github.com/moveit/moveit_task_constructor/blob/ros2/demo/launch/run.launch.py the planning_pipelines should be loaded, but that is not the case. I also tried to load the whole moveit_config with moveit_config.to_dict(), tried also to add .planning_pipelines(pipelines=["ompl"]) in the moveit_config, but that doesn't help. Based on the documentation at MoveIt Configuration Tutorial, everything appears to be configured correctly: https://moveit.picknik.ai/main/doc/how_to_guides/moveit_configuration/moveit_configuration_tutorial.html#loading-configuration-parameters-into-launch-files |
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Can a MoveIt2 expert have a look at this, e.g. @JafarAbdi? |
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4 replies
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My alternative approach was to allow undeclared parameters, which should be possible with the python binding tools for C++(https://github.com/moveit/py_binding_tools/blob/a360e5ff3bb2a602ff0d184f218f1fce843c37de/src/rclcpp.cpp): I attempted to set the missing parameters in a YAML file (there is already a Do you have any idea, why i can't use or load these undeclared parameters for Thanks in advance. |
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Hi @JafarAbdi @rhaschke , |
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Could someone please assist? It's becoming increasingly urgent, as we would like to move an MTC application from prototype into production, but we are not satisfied with the default RRTConnect algorithm. |
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I looked into this myself now and found the solution. Actually, you were already very close, defining node options. Only the order was wrong. It needs to read: options = rclcpp.NodeOptions()
options.automatically_declare_parameters_from_overrides = True
node = rclcpp.Node("mtc_tutorial", options)Corresponding changes are pushed to the |
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I looked into this myself now and found the solution. Actually, you were already very close, defining node options. Only the order was wrong. It needs to read:
Corresponding changes are pushed to the
ros2branch: 9f7a0ac