MTC功能包
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Robert Haschke 527ec8edaa correctly sort upstream_solutions_ in ComputeIK and GeneratePose
Reworked cost_queue to correctly sort pointer-like types.
Added unittests for new ValueOrPointeeLess<T> less operator, ordered<T>, and rviz cost ordering.
2019-02-12 03:05:36 +01:00
capabilities fixup! a move_group capability to execute Task Solutions 2018-09-25 22:17:42 +02:00
core correctly sort upstream_solutions_ in ComputeIK and GeneratePose 2019-02-12 03:05:36 +01:00
msgs PropertyTypeRegistry to store serialization/deserialization functions 2019-01-17 23:54:35 +01:00
rviz_marker_tools Eigen::Affine3 -> Eigen::Isometry3 2018-11-28 08:14:44 +01:00
visualization correctly sort upstream_solutions_ in ComputeIK and GeneratePose 2019-02-12 03:05:36 +01:00
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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.

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

Feedback and contributions are very welcome.

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

The software repository is compatible to MoveIt's Melodic branch, which also works on Kinetic (when compiled from source).