MTC功能包
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Rajendra Singh 8588deb202 Printing success log only if execution completes
Previous code will print/log "Execution complete" even if the execution was disabled.
2020-02-05 13:18:33 +01:00
capabilities avoid deprecation warnings of MoveIt master branch 2019-12-13 11:29:02 +01:00
core Task: don't publish solutions by default 2020-01-11 09:00:34 +01:00
demo Printing success log only if execution completes 2020-02-05 13:18:33 +01:00
msgs Introduce clang-format (#102) 2019-07-18 11:04:35 +02:00
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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.

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.