Hi all,

A quick and simple doubt: I am trying to implement sequence executions using the Pilz_Industrial_Motion_Planner. I have followed your documentation here, and I have successfully implemented the motion planner but I am missing documentation about the MotionSequenceRequest.

I have checked your C++ code on Moveit Task Constructor, but unfortunately, that doesn't work for me since I am interested in:

• Planning the whole sequence as a single trajectory to avoid delay between "plan" actions.
• Implementing blending.

I have tried to implement this on my own (even with subsequent plans changing the RobotState manually), but with no success.
Some documentation (+ source code) on the ROS2 (C++) version of this would be amazing!

I am happy to contribute to this, but I would need some help at the beginning.

Thank you very much in advance,
Mikel Bueno
Cranfield University