MTC功能包
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Robert Haschke 1a0b9b36ee fix connection creation
Establishing the interface connections, we face a chicken-egg-problem:
To establish a connection, a predecessors/successors pull interface is
assigned to the current's stage push interface.
However, propagating stages (in auto-detection mode) can only create
their pull interfaces if the corresponding, opposite-side push interface
is present already (because that's the mechanism to determine the supported
propagation directions).

Hence, we need to resolve this by performing two sweeps:
- initialization, assuming both propagation directions should be supported,
  thus generating both pull interfaces, i.e. providing the egg
- stripping down the interfaces to the actual context
  This context is provided by two stages pushing from both ends
  into a (potentially long) sequence of propagating stages (tbd).

Contributions of this PR:
- PropagatingEitherWay: explicitly distinguish AUTO from BOTHWAYS interface
  AUTO: auto-derive interface from provided push interfaces
  BOTHWAYS: explicitly require both directions
- SerialContainer: (better, but not yet perfect) validation of connectivity
- ParallelContainer: determine interface from what children offer
2018-02-18 21:23:12 +01:00
core fix connection creation 2018-02-18 21:23:12 +01:00
msgs Merge branches 'fix-remote-task-model', 'wip-cost-ordering' and 'wip-properties' 2018-02-12 23:35:01 +01:00
rviz_marker_tools rviz marker tools 2018-02-04 09:00:54 +01:00
visualization rviz plugin: fix segfault 2018-02-16 16:01:05 +01:00
.gitignore add gitignore for vim swp 2017-02-28 11:12:18 +01:00
.travis.yml add myself as maintainer & travis recipient 2017-11-13 15:39:30 +01:00
LICENSE.txt add full license information 2017-12-12 21:24:32 +01:00
README.md provide a minimalistic README.md 2017-12-08 21:29:48 +01:00

moveit_task_constructor

An approach to forward multi-step manipulation planning

The framework is currently under development. The API is unstable and incomplete.

Feedback is very welcome.

This project enables the user to specify and plan complex manipulation actions in terms of successive planning stages.

Individual stages compute robot trajectories relative to their expected start or end. The resulting planning pipeline, i.e. Task, extends different candidate trajectories from key states (Generator stages) until it generated feasible trajectories that extend through all stages.

The current aim is to replace MoveIt's old pick&place pipeline and provide a transparent mechanism to enable and debug complex motion sequences.