Probably the most invasive format patch, also changing some internal API. I deliberately disabled ClassCase and MethodCase checks for the moment to avoid public API changes in this patch set. |
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|---|---|---|
| capabilities | ||
| core | ||
| demo | ||
| msgs | ||
| rviz_marker_tools | ||
| visualization | ||
| .clang-format | ||
| .clang-tidy | ||
| .gitignore | ||
| .rosinstall | ||
| .travis.yml | ||
| codecov.yaml | ||
| LICENSE.txt | ||
| README.md | ||
MoveIt Task Constructor Framework
The Task Constructor framework provides a flexible and transparent way to define and plan actions that consist of multiple interdependent subtasks. It draws on the planning capabilities of MoveIt to solve individual subproblems in black-box planning stages. A common interface, based on MoveIt's PlanningScene is used to pass solution hypotheses between stages. The framework enables the hierarchical organization of basic stages using containers, allowing for sequential as well as parallel compositions. For more details, please refer to the associated ICRA 2019 publication.
Roadmap
Feedback and contributions are very welcome.
The current roadmap is to replace MoveIt's old pick&place pipeline and provide a transparent mechanism to enable and debug complex motion sequences.