moveit change pick pipeline

Question

Hi,

I would like to know if it is possible to change the pipeline for the pick action (I'm working with ROS Melodic)

I need to customise the "post_grasp_retreat" stage to execute something like a trajectory instead of a linear movement.

Is there an "easy" way to change only this section of the pipeline, or I need to rewrite the whole action?

Thanks, Germán

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Originally posted by gecastro on ROS Answers with karma: 23 on 2020-08-10

Post score: 0

Answer 1

Of course you can change the stage if you edit the sources...

The much more general approach by some of us Maintainers is the MoveIt Task Constructor framework which is designed for users to implement their own stages.

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Originally posted by v4hn with karma: 2950 on 2020-08-10

This answer was ACCEPTED on the original site

Post score: 0

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Original comments

Comment by gecastro on 2020-08-10:
Thanks, I'll have a look