First Steps

The MoveIt Task Constructor package contains several basic examples and a pick-and-place demo. For all demos you should launch the basic environment:

roslaunch moveit_task_constructor_demo demo.launch

Subsequently, you can run the individual demos:

rosrun moveit_task_constructor_demo cartesian
rosrun moveit_task_constructor_demo modular
roslaunch moveit_task_constructor_demo pickplace.launch

To inspect the task hierarchy, be sure that you selected the correct solution topic in the reviz moveit task constructor plugin.