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MTC功能包
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 |
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| rviz_marker_tools | ||
| visualization | ||
| .gitignore | ||
| .travis.yml | ||
| LICENSE.txt | ||
| README.md | ||
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.