MTC VSCode Extension

A Visual Studio Code extension that provides code snippets for MoveIt2 and MoveIt Task Constructor (MTC), streamlining the development of complex robotic motion planning tasks.

Overview

This extension accelerates development with MoveIt2 and MoveIt Task Constructor by providing ready-to-use code snippets for common patterns, stages, and task structures. Whether you're building pick-and-place operations, multi-stage manipulation tasks, or complex motion planning pipelines, these snippets help you write cleaner code faster.

Features

• MoveIt2 Snippets: Quick access to common MoveIt2 patterns and configurations
• MTC Stage Snippets: Pre-configured snippets for all major MTC stage types
• Task Structure Templates: Complete task initialization and setup patterns
• Planning Scene Management: Snippets for scene configuration and object manipulation
• Solver Configuration: Quick templates for different planner types

Installation

From VS Code Marketplace

1. Open Visual Studio Code
2. Go to Extensions (Ctrl+Shift+X / Cmd+Shift+X)
3. Search for "moveit2" or "MoveIt Task Constructor"
4. Click Install

From VSIX File

1. Download the .vsix file from the releases page
2. Open Visual Studio Code
3. Go to Extensions (Ctrl+Shift+X / Cmd+Shift+X)
4. Click the "..." menu at the top of the Extensions view
5. Select "Install from VSIX..."
6. Choose the downloaded .vsix file

Usage

Basic Usage

Type the snippet prefix in a C++ file and press Tab or Enter to expand the snippet. Snippets are designed to work in files where MoveIt2 and MTC are being used.

Common Snippet Categories

Task Initialization

Create a complete MTC task structure:

// Type: mtc-task-init
auto task = std::make_unique<moveit::task_constructor::Task>();
task->loadRobotModel(node);

Generator Stages

• Current State: Initialize with the robot's current state
• Generate Grasp Pose: Create grasp pose candidates
• Generate Place Pose: Create place pose candidates

Propagating Stages

• Move To: Move to a named pose or joint state
• Move Relative: Relative motion in Cartesian or joint space
• Modify Planning Scene: Attach/detach objects, modify collision rules

Connecting Stages

• Connect: Connect two planning stages with a motion plan
• Merge: Combine multiple solution branches

Container Stages

• Serial Container: Execute stages in sequence
• Alternatives: Try multiple strategies with fallbacks
• Fallbacks: Provide backup solutions
• Parallel Container Merger: Execute stages in parallel

Example Workflow

1. Start a new MTC task:

   • Type mtc-task-init and expand
   • Configure your robot model and properties

2. Add stages:

   • Type mtc-current-state for the initial state
   • Type mtc-moveto to add movement stages
   • Type mtc-connect to connect planning segments

3. Configure planners:

   • Type mtc-planner-pipeline for sampling-based planning
   • Type mtc-planner-cartesian for Cartesian path planning
   • Type mtc-planner-joint for joint interpolation

4. Execute the task:

   • Use snippets for task planning and execution
   • Enable introspection for RViz visualization

Snippet Reference

All snippets follow a consistent naming convention:

• mtc-*: MoveIt Task Constructor snippets
• moveit-*: General MoveIt2 snippets
• mtc-stage-*: Specific stage type snippets
• mtc-container-*: Container and wrapper snippets

Key Snippets

Requirements

• Visual Studio Code version 1.60.0 or higher
• C++ language support extension (recommended)
• MoveIt2 and MoveIt Task Constructor installed in your ROS 2 workspace

Supported Languages

• C++ (.cpp, .hpp, .h, .cc)

Configuration

The extension works out of the box with no additional configuration required. Snippets are automatically available in C++ files.

About MoveIt Task Constructor

MoveIt Task Constructor (MTC) is a multi-stage planning framework for solving complex motion planning tasks in robotics. It allows developers to:

• Break down complex manipulation tasks into simpler, reusable stages
• Compose hierarchical task structures with sequential or parallel execution
• Visualize and debug individual stage solutions
• Optimize for total cost across all stages

Key Concepts

• Generators: Create solutions independently (e.g., current state, grasp poses)
• Propagators: Receive input from one neighbor, solve, and pass to the other side
• Connectors: Connect start and goal states provided by adjacent stages
• Containers: Group multiple stages with different execution patterns

Contributing

Contributions are welcome! If you have suggestions for new snippets or improvements:

1. Fork the repository
2. Create a feature branch
3. Add your snippets following the existing format
4. Submit a pull request with a clear description

Resources

• MoveIt2 Documentation
• MoveIt Task Constructor Documentation
• MoveIt Task Constructor Tutorial
• MoveIt Task Constructor GitHub

License

This extension is provided as-is for the robotics development community.

Feedback and Issues

If you encounter any issues or have suggestions for improvements:

• Report issues on the GitHub repository
• Request new snippets or features
• Share your experience using the extension

Changelog

Version 0.0.1 (Initial Release)

• Initial release with core MTC and MoveIt2 snippets
• Support for all major MTC stage types
• Task initialization and configuration snippets
• Planner configuration templates
• Planning scene management snippets

Happy Robot Programming! 🤖

Made with ❤️ for the ROS 2 and MoveIt2 community