February 16, 2024

Task and Motion Planning using MoveIt Pro

by Jaclyn Ghareeb

This video shows task and motion planning for manipulating objects in and out of storage given a high-level goal specification, using MoveIt Pro.

Task planning is useful when your robot has a set of skills (such as pick, place, open, close) and you want to command your robot to combine these skills to complete a variety of tasks, with different initial conditions and goals.

We use the ROS 2 Planning System (PlanSys2) package to generate task plans using a PDDL domain. The resulting plans are then converted to a behavior tree that is executable using MoveIt Pro.