Fix place pose generation IK frame in MTC Tutorial (#727)

Author: sea-bass

doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst

@@ -166,6 +166,7 @@ Open ``mtc_node.cpp`` in your editor of choice, and paste in the following code.
       geometry_msgs::msg::Pose pose;
       pose.position.x = 0.5;
       pose.position.y = -0.25;
+      pose.orientation.w = 1.0;
       object.pose = pose;
 
       moveit::planning_interface::PlanningSceneInterface psi;
@@ -806,7 +807,10 @@ The next stages will be added to the serial container rather than the task.
         place->properties().configureInitFrom(mtc::Stage::PARENT,
                                               { "eef", "group", "ik_frame" });
 
-This next stage generates the poses used to place the object and compute the inverse kinematics for those poses - it is somewhat similar to the ``generate grasp pose`` stage from the pick serial container. We start by creating a stage to generate the poses and inheriting the task properties. We specify the pose where we want to place the object with a ``PoseStamped`` message from ``geometry_msgs`` - in this case, we choose ``y = 0.5``. We then pass the target pose to the stage with ``setPose``.
+This next stage generates the poses used to place the object and compute the inverse kinematics for those poses - it is somewhat similar to the ``generate grasp pose`` stage from the pick serial container.
+We start by creating a stage to generate the poses and inheriting the task properties.
+We specify the pose where we want to place the object with a ``PoseStamped`` message from ``geometry_msgs`` - in this case, we choose ``y = 0.5`` in the ``"object"`` frame.
+We then pass the target pose to the stage with ``setPose``.
 Next, we use ``setMonitoredStage`` and pass it the pointer to the ``attach_object`` stage from earlier.
 This allows the stage to know how the object is attached.
 We then create a ``ComputeIK`` stage and pass it our ``GeneratePlacePose`` stage - the rest follows the same logic as above with the pick stages.
@@ -823,6 +827,7 @@ We then create a ``ComputeIK`` stage and pass it our ``GeneratePlacePose`` stage
           geometry_msgs::msg::PoseStamped target_pose_msg;
           target_pose_msg.header.frame_id = "object";
           target_pose_msg.pose.position.y = 0.5;
+          target_pose_msg.pose.orientation.w = 1.0;
           stage->setPose(target_pose_msg);
           stage->setMonitoredStage(attach_object_stage);  // Hook into attach_object_stage
 
@@ -831,7 +836,7 @@ We then create a ``ComputeIK`` stage and pass it our ``GeneratePlacePose`` stage
               std::make_unique<mtc::stages::ComputeIK>("place pose IK", std::move(stage));
           wrapper->setMaxIKSolutions(2);
           wrapper->setMinSolutionDistance(1.0);
-          wrapper->setIKFrame(hand_frame);
+          wrapper->setIKFrame("object");
           wrapper->properties().configureInitFrom(mtc::Stage::PARENT, { "eef", "group" });
           wrapper->properties().configureInitFrom(mtc::Stage::INTERFACE, { "target_pose" });
           place->insert(std::move(wrapper));

doc/tutorials/pick_and_place_with_moveit_task_constructor/src/mtc_node.cpp

@@ -58,6 +58,7 @@ void MTCTaskNode::setupPlanningScene()
   geometry_msgs::msg::Pose pose;
   pose.position.x = 0.5;
   pose.position.y = -0.25;
+  pose.orientation.w = 1.0;
   object.pose = pose;
 
   moveit::planning_interface::PlanningSceneInterface psi;
@@ -287,6 +288,7 @@ mtc::Task MTCTaskNode::createTask()
       geometry_msgs::msg::PoseStamped target_pose_msg;
       target_pose_msg.header.frame_id = "object";
       target_pose_msg.pose.position.y = 0.5;
+      target_pose_msg.pose.orientation.w = 1.0;
       stage->setPose(target_pose_msg);
       stage->setMonitoredStage(attach_object_stage);  // Hook into attach_object_stage
 
@@ -297,7 +299,7 @@ mtc::Task MTCTaskNode::createTask()
       // clang-format on
       wrapper->setMaxIKSolutions(2);
       wrapper->setMinSolutionDistance(1.0);
-      wrapper->setIKFrame(hand_frame);
+      wrapper->setIKFrame("object");
       wrapper->properties().configureInitFrom(mtc::Stage::PARENT, { "eef", "group" });
       wrapper->properties().configureInitFrom(mtc::Stage::INTERFACE, { "target_pose" });
       place->insert(std::move(wrapper));