Скачать или смотреть Alternative Paths – ROS 2 Jazzy MoveIt Task Constructor

In this tutorial, you’ll learn how to implement alternative motion planning strategies in the MoveIt 2 Task Constructor (MTC). We’ll create a demo from scratch that compares different planning cost terms such as path length, trajectory duration, end-effector motion, and elbow motion. This forms the foundation for building more adaptable and efficient robotic manipulation behaviors.

What You'll Learn
0:00 Introduction to the Alternative Path Costs Demo
0:46 Real-World Use Cases (Manufacturing, Cobots, Flexible Systems)
1:37 Create the Code
3:04 Set Up the Quick Launch
4:45 Launch Everything
6:06 Understanding the Motion Planning Results
9:58 Terminal Window – Planning Results
12:07 Detailed Code Walkthrough

By the end of this tutorial, you’ll understand how to configure and compare different motion planning approaches in ROS 2 Jazzy using MoveIt Task Constructor — enabling smarter, optimized path selection in real or simulated robotic arms.

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Note: If you run into problems trying to execute in RViz, the issue is likely your version of MoveIt. Here is how you fix that. Type these commands into your terminal window:

cd ~/ros2_ws/src
git clone https://github.com/moveit/moveit2.git -b jazzy
cd moveit2
You can find commits here: https://github.com/moveit/moveit2/com...
git reset --hard e489b0483af155062df30573aea75e1c015a34ab
cd ~/ros2_ws
rosdep update
rosdep install --from-paths src --ignore-src -r -y
colcon build
source ~/.bashrc
colcon build
source ~/.bashrc

Then load everything up again!
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Resources and Links
Complete Tutorial Guide: https://automaticaddison.com/alternat...
More Tutorials: https://automaticaddison.com

Connect With Me
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#ros2 #robotics #cpp